同時定位與地圖創(chuàng)建中的數(shù)據關聯(lián)技術研究

1、中國海洋大學碩士學位論文同時定位與地圖創(chuàng)建中的數(shù)據關聯(lián)技術研究姓名：王永清申請學位級別：碩士專業(yè)：信號與信息處理指導教師：何波20070601I叫時定位’J地燃創(chuàng)建中的數(shù)據關聯(lián)投術研究ResearchonDataAssociationforSimultaneousLocalizationandMappingAbstractThisthesisisabOUtdamassociationforfeatq1rebasedmobilerobot

2、andSLAMSLAMistheaboreviationofSimultaneousLocalizatior：andMapDingDataassociationisthemoslimportantanddi銜cultproblemin也eSLAMFirstofa11thesisintroduces血eSLAMacademicframethemostimportantproblemand血ehistoryOfSLAMFollowthist

3、hesisanalysesthereasonswhywemakeuseofthedataassociationtechnologyintheSLAMThehistoryabOUtthedataassociationresearchhasbeenpresentedandthedifficultyandimportanceofdataassociationinSLAMalsohasbeenanalysedparticularlyinthet

4、hesisSecondlythesisimplementsthefeatureextractionwhichisthefoundationofthedataassociationforsolvingthecomplexdataassociationThemethodofextractinglinefeatarehasbeendoneandthelasermodelhasbeensetuptoabstractthedataofthelas

5、ermeasureTheprocedureandarithmeticofthelinefeatureextractionaboutthelasermeasurementisdevelopedparticularlyThirdlymanyresearchtechniquesareintroducedandcomparedinthepaperThealgorithmsofthenearestneighbour(NN)andJointcomp

6、atibilitybranchandbound(JCBB)areresearchedmostlyTheMatLabexperimentalresultprovesthatJCBBisaccuracybutthetimeofassociationcomputationistoolongToovercometllisissuethisthesisdealswiththeJCBBbvlineafizationandthecomputation

7、e銜ciencyisbetterThesisextractsthelinefeatureswiththelasermodelfiomtherawobservationdatatheilthesefeatureswillbefilteredbythenewdataassociationapproachwithJCBBAhypothesisvectorbetweentheobservationandpredictionofthemeasur

8、ementwillbecreatedThatist11epurposeofthedataassociationprocedureLocalizationoftherobotisupdatedwiththeextendKalmanfilterafterdataassociationaccomplished～FounhiFthesisanalyzestheimportanceandapproachaboutthedataassociatio

9、ninthegloblemaplocationTheemulatinalresultprovesthatthelinearJCBBapproachmakesapplicationoftheautonomousrobotmorefeasibleandavailableFinallyasummarizationisproducedandalsodiscussthefuRlreworkKeywords：dataassociation，SLAM