Eş zamanlı konum belirleme ve haritalama probleminde yeni bir durum tahmin yöntemi olarak parçacık akış filtresi

Yıl 2017, Cilt: 32 Sayı: 4, 1255 - 1270, 08.12.2017

Erol Duymaz Abdullah Ersan Oğuz Hakan Temeltaş

https://doi.org/10.17341/gazimmfd.369697

Cited By: 5

Öz

Son çeyrek yüzyılda ortaya çıkan Eş Zamanlı
Konum Belirleme ve Haritalama (EZKH) problemi, 2000’li yıllardan başlayarak
kara, deniz, hava platformları için uyarlanmış olmakla birlikte Kalman Filtresi
tabanlı Genişletilmiş Kalman Filtresi ve Dağıtılmış Kalman Filtresi gibi
parametrik filtre yaklaşımları yanında Parçacık Filtresi gibi non-parametrik
yöntemlerden oluşan durum tahmin yöntemleri, model ya da grafik tabanlı üst
seviye kontrol amaçlayan ve özellikle de görüntü işleyen teknikler
kullanılmıştır. Platform, araç, algılayıcı tipi ve kara, deniz, hava gibi ortam
türü başlıklarında oldukça fazla farklılıklar göstermesi nedeniyle EZKH
probleminin sınıflandırma yoluyla performans analizi ihtiyacından
bahsedilebilir. İlk kez 2009 yılında ortaya konulan parçacık akış filtresi
özellikle yüksek doğruluk ve hızlı yakınsama gibi avantajları nedeniyle ilgi
görmüştür. Bu çalışmada literatürde ilk kez olarak Parçacık Akış Filtresi
tabanlı bir EZKH yapısı filtrenin matematik temelleri, filtre analizleri,
otonom bir yer aracı ve algılayıcı modelini de içerecek şekilde verilmiştir.
Belirsizlik altında tahmin araçlarının performans analizleri ile birlikte
verilen benzetim sonuçlarına göre parçacık akış filtresi tabanlı EZKH
performansı hesaplama maliyeti nedeniyle bazı gerçek zamanlı uygulamalardaki
zorluklarına rağmen literatürde daha önce yer almış diğer tahmin yöntemleriyle
karşılaştırıldığında daha başarılı sonuçlar verdiği, özellikle belirsizlikleri
daha düşük algılayıcılar kullanan ölçüm ortamlarında parçacık filtresi
yapısında ortaya çıkan dejenerasyon sorununu ortadan kaldırması nedeniyle
tercih edilebileceği görülmüştür.

Anahtar Kelimeler

Parçacık akış filtresi, belirsizlik altında tahmin, eş zamanlı konum belirleme ve haritalama, olasılıksal sinyal işleme, seyrüsefer

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