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Mathematical Problems in Engineering
Volume 2014, Article ID 171958, 11 pages
Research Article

A SLAM Algorithm Based on Adaptive Cubature Kalman Filter

1College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China
2Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada M3J 1P3
3College of Science, Harbin Engineering University, Harbin, Heilongjiang 150001, China

Received 2 February 2014; Revised 3 April 2014; Accepted 8 April 2014; Published 7 May 2014

Academic Editor: Dongbing Gu

Copyright © 2014 Fei Yu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We need to predict mathematical model of the system and a priori knowledge of the noise statistics when traditional simultaneous localization and mapping (SLAM) solutions are used. However, in many practical applications, prior statistics of the noise are unknown or time-varying, which will lead to large estimation errors or even cause divergence. In order to solve the above problem, an innovative cubature Kalman filter-based SLAM (CKF-SLAM) algorithm based on an adaptive cubature Kalman filter (ACKF) was established in this paper. The novel algorithm estimates the statistical parameters of the unknown system noise by introducing the Sage-Husa noise statistic estimator. Combining the advantages of the CKF-SLAM and the adaptive estimator, the new ACKF-SLAM algorithm can reduce the state estimated error significantly and improve the navigation accuracy of the SLAM system effectively. The performance of this new algorithm has been examined through numerical simulations in different scenarios. The results have shown that the position error can be effectively reduced with the new adaptive CKF-SLAM algorithm. Compared with other traditional SLAM methods, the accuracy of the nonlinear SLAM system is significantly improved. It verifies that the proposed ACKF-SLAM algorithm is valid and feasible.