On the Consistency Analyzing of ASLAM for UAV Navigating in GNSS Denied Environment

In this paper, EKF Based A-SLAM concept is discussed in detail by presenting the formulas and MATLAB Simulink model, along with results. The UAV kinematic model and state-observation models for the EKF Based A-SLAM are developed to analyze the consistency. The covariance value caused by the EKF structure is analyzed. This value was calculated by filtering… CONTINUE READING