An Improved EKF-SLAM for Mars Surface Exploration

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"></td><td class="align_center">Standard EKF-SLAM</td><td class="align_center">EKF-SLAM with submaps</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">The total number of the feature points considered in the state variables</td><td class="align_center">700</td><td class="align_center">440</td></tr><tr><td class="align_left">Computational complexity</td><td class="align_center"><span style="width: 47.2892ptpx;"><svg height="14.114pt" id="M108" style="vertical-align:-2.4508pt" version="1.1" viewbox="-0.0498162 -11.6632 47.2892 14.114" width="47.2892pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M774 30C773 39 771 49 769 58C758 52 747 48 732 48C616 48 566 133 514 239C556 327 604 374 702 374C716 374 729 369 737 365C743 361 747 361 752 365C761 373 770 389 770 406C770 426 754 448 726 448C689 448 629 431 577 391C534 358 509 327 489 288C438 384 373 448 262 448C175 448 53 373 53 208C53 98 131 -12 262 -12C377 -12 426 52 472 147C516 51 579 -12 687 -12C713 -12 748 -2 774 30ZM451 198C415 110 363 21 272 21C195 21 145 114 145 240C145 353 194 415 250 415C357 415 409 304 451 198Z"></path></g><g transform="matrix(.013,0,0,-0.013,14.383,.183)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,18.898,0)"><path d="M447 623H65C61 580 56 530 47 475H76C100 541 106 550 172 550H388C308 376 196 170 91 -1L98 -12L172 -2C268 204 360 408 455 611L447 623Z"></path></g><g transform="matrix(.013,0,0,-0.013,25.14,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,31.38,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,37.62,.183)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,42.203,-5.813)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z"></path></g></svg></span></td><td class="align_center"><span style="width: 47.2892ptpx;"><svg height="14.114pt" id="M109" style="vertical-align:-2.4508pt" version="1.1" viewbox="-0.0498162 -11.6632 47.2892 14.114" width="47.2892pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M774 30C773 39 771 49 769 58C758 52 747 48 732 48C616 48 566 133 514 239C556 327 604 374 702 374C716 374 729 369 737 365C743 361 747 361 752 365C761 373 770 389 770 406C770 426 754 448 726 448C689 448 629 431 577 391C534 358 509 327 489 288C438 384 373 448 262 448C175 448 53 373 53 208C53 98 131 -12 262 -12C377 -12 426 52 472 147C516 51 579 -12 687 -12C713 -12 748 -2 774 30ZM451 198C415 110 363 21 272 21C195 21 145 114 145 240C145 353 194 415 250 415C357 415 409 304 451 198Z"></path></g><g transform="matrix(.013,0,0,-0.013,14.383,.183)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,18.898,0)"><path d="M456 178V225H360V632H320C217 496 115 347 20 206V178H280V106C280 40 276 34 189 27V0H445V27C364 34 360 39 360 106V178H456ZM280 225H82C149 335 214 431 278 520H280V225Z"></path></g><g transform="matrix(.013,0,0,-0.013,25.138,0)"><path d="M456 178V225H360V632H320C217 496 115 347 20 206V178H280V106C280 40 276 34 189 27V0H445V27C364 34 360 39 360 106V178H456ZM280 225H82C149 335 214 431 278 520H280V225Z"></path></g><g transform="matrix(.013,0,0,-0.013,31.378,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,37.618,.183)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,42.203,-5.813)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z"></path></g></svg></span></td></tr><tr><td class="align_left">The triaxial position error of Mars rover</td><td class="align_center">≤1 m</td><td class="align_center">≤0.5 m</td></tr><tr><td class="align_left">The triaxial angle error of Mars rover</td><td class="align_center">≤0.5°</td><td class="align_center">≤0.5°</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Some comparison results of the two algorithms.</div>

International Journal of Aerospace Engineering

tab2

Table 2

Table 2: An Improved EKF-SLAM for Mars Surface Exploration 