{"id":23475,"date":"2025-01-03T16:52:40","date_gmt":"2025-01-03T08:52:40","guid":{"rendered":"http:\/\/192.168.10.115\/?p=23475"},"modified":"2025-01-03T16:52:40","modified_gmt":"2025-01-03T08:52:40","slug":"2025-01-03-%e5%a4%9a%e4%bc%a0%e6%84%9f%e5%99%a8%e8%9e%8d%e5%90%88%e7%9a%84%e5%b8%8c%e6%9c%9b%ef%bc%9faffine-ekf%ef%bc%9a%e6%94%b9%e8%bf%9b%e5%8d%a1%e5%b0%94%e6%9b%bc%e6%bb%a4%e6%b3%a2%e4%b8%80","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/01\/03\/23475\/","title":{"rendered":"2025-01-03 \u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u5e0c\u671b\uff1fAffine EKF\uff1a\u6539\u8fdb\u5361\u5c14\u66fc\u6ee4\u6ce2\u4e00\u81f4\u6027\uff0c\u591a\u79cdSLAM\u5747\u6709\u589e\u76ca"},"content":{"rendered":"\n<p>\u6807\u9898\uff1aAffine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aYang Song, Liang Zhao, Shoudong Huang<\/p>\n\n\n\n<p>\u673a\u6784\uff1aUniversity of Technology Sydney\u3001The University of Edinburgh<\/p>\n\n\n\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2412.10809\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2412.10809<\/a><\/p>\n\n\n\n<p>\u4ee3\u7801\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/yangsong-slam\/affine-ekf\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/yangsong-slam\/affine-ekf<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_16106886031_1\"><strong>1. \u5bfc\u8bfb<\/strong><\/h2>\n\n\n\n<p>\u4e0d\u4e00\u81f4\u6027\u95ee\u9898\u662f\u57fa\u4e8e\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2(EKF)\u7684\u72b6\u6001\u4f30\u8ba1\u65b9\u6cd5\u6027\u80fd\u7684\u4e00\u4e2a\u5173\u952e\u6311\u6218\uff0c\u5b83\u4e3b\u8981\u53d7EKF\u6a21\u578b\u548c\u5e95\u5c42\u52a8\u6001\u7cfb\u7edf\u4e4b\u95f4\u53ef\u89c2\u6d4b\u6027\u5dee\u5f02\u7684\u5f71\u54cd\u3002\u672c\u6587\u9996\u5148\u8bc1\u660e\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=2&amp;q=%E5%8F%AF%E8%A7%82%E6%B5%8B%E6%80%A7&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u53ef\u89c2\u6d4b\u6027<\/a>\u4fdd\u6301\u7684\u4e00\u4e9b\u5145\u8981\u6761\u4ef6\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u5728\u4e00\u5b9a\u6761\u4ef6\u4e0b\uff0c\u5982\u679c\u76f8\u5e94\u7684\u7ebf\u6027\u5316\u4f7f\u5f97\u4e0d\u53ef\u89c2\u6d4b\u5b50\u7a7a\u95f4\u4e0e\u72b6\u6001\u503c\u65e0\u5173\uff0cEKF\u81ea\u7136\u53ef\u4ee5\u4fdd\u6301\u6b63\u786e\u7684\u53ef\u89c2\u6d4b\u6027\u3002\u57fa\u4e8e\u8fd9\u4e00\u7406\u8bba\u53d1\u73b0\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u4eff\u5c04EKF (Aff-EKF)\u6846\u67b6\uff0c\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E4%BB%BF%E5%B0%84%E5%8F%98%E6%8D%A2&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u4eff\u5c04\u53d8\u6362<\/a>\u6765\u514b\u670d\u6807\u51c6EKF (Std-EKF)\u7684\u4e0d\u4e00\u81f4\u6027\uff0c\u8be5\u6846\u67b6\u4e0d\u4ec5\u81ea\u7136\u5730\u6ee1\u8db3\u53ef\u89c2\u6d4b\u6027\u7ea6\u675f\uff0c\u800c\u4e14\u5177\u6709\u6e05\u6670\u7684\u8bbe\u8ba1\u8fc7\u7a0b\u3002\u901a\u8fc7\u6570\u5b66\u5206\u6790\u8bc1\u660e\u4e86\u6211\u4eec\u7684Aff-EKF\u6846\u67b6\u76f8\u5bf9\u4e8e\u4e00\u4e9b\u5e38\u7528\u65b9\u6cd5\u7684\u4f18\u52bf\u3002\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u7684\u6709\u6548\u6027\u5728\u5177\u6709\u4e0d\u540c\u7c7b\u578b\u7684\u7279\u5f81\u3001\u5178\u578b\u7684\u70b9\u7279\u5f81\u3001\u6c34\u5e73\u9762\u4e0a\u7684\u70b9\u7279\u5f81\u548c\u5e73\u9762\u7279\u5f81\u7684\u4e09\u4e2a\u540c\u65f6\u5b9a\u4f4d\u548c\u7ed8\u56fe(SLAM)\u5e94\u7528\u4e0a\u5f97\u5230\u9a8c\u8bc1\u3002\u5177\u4f53\u5730\u8bf4\uff0c\u6309\u7167\u63d0\u51fa\u7684\u65b9\u6cd5\uff0c\u81ea\u7136\u76f8\u5bb9\u7684Aff-EKF\u53ef\u4ee5\u663e\u5f0f\u5730\u5bfc\u51fa\u3002<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E8%92%99%E7%89%B9%E5%8D%A1%E6%B4%9B%E6%A8%A1%E6%8B%9F&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8499\u7279\u5361\u6d1b\u6a21\u62df<\/a><\/p>\n\n\n\n<p>\u9a8c\u8bc1\u4e86\u8fd9\u4e9bAff-EKF\u7684\u4e00\u81f4\u6027\u6539\u8fdb\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_16106886031_2\"><strong>2. \u6548\u679c\u5c55\u793a<\/strong><\/h2>\n\n\n\n<p>Aff-EKF\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8SLAM\u7684\u5b9a\u4f4d\u7cbe\u5ea6<\/p>\n\n\n\n<p>Std-EKF\u3001RI-EKF\u548c\u4e24\u4e2a\u63d0\u51fa\u7684Aff-EKF\u7684RMSE\u548cNEES\u4e5f\u5982\u56fe2\u6240\u793a\u3002\u5728\u6574\u4e2a\u8f68\u8ff9\u4e2d\uff0cRI-EKF\u548c\u4e24\u4e2aAff-EKF\u90fd\u4fdd\u6301\u4e86\u4e00\u81f4\u6027\uff0c\u800cStd-EKF\u5728\u4e00\u6bb5\u65f6\u95f4\u540e\u53d8\u5f97\u660e\u663e\u4e0d\u4e00\u81f4\u3002\u7279\u522b\u5730\uff0c\u56fe2\u8fd8\u5c55\u793a\u4e86\u5728\u4e00\u6b21\u8499\u7279\u5361\u6d1b\u6a21\u62df\u4e2d\uff0c\u8fd9\u56db\u4e2aEKF\u7684\u673a\u5668\u4eba\u65b9\u5411\u8bef\u5dee\u548c\u4f4d\u7f6e\u8bef\u5dee\uff0c\u4ee5\u53ca3\u03c3\u8fb9\u754c\u3002\u6211\u4eec\u53ef\u4ee5\u53d1\u73b0\uff0cStd-EKF\u7684\u8bef\u5dee\u8d85\u51fa\u4e86\u76f8\u5e94\u76843\u03c3\u8fb9\u754c\uff0899%\u8303\u56f4\uff09\uff0c\u8fd9\u6e05\u695a\u5730\u63ed\u793a\u4e86Std-EKF\u7684\u4e0d\u4e00\u81f4\u6027\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-7221fa5aba9fdf06e306f1555393463b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_16106886031_3\"><strong>3. \u5f15\u8a00<\/strong><\/h2>\n\n\n\n<p>\u5bf9\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9D%9E%E7%BA%BF%E6%80%A7%E5%8A%A8%E6%80%81%E7%B3%BB%E7%BB%9F&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u975e\u7ebf\u6027\u52a8\u6001\u7cfb\u7edf<\/a>\u800c\u8a00\uff0c\u72b6\u6001\u4f30\u8ba1\u5907\u53d7\u5173\u6ce8\u3002\u5c3d\u7ba1\u53ef\u4ee5\u4f7f\u7528\u6240\u6709\u6d4b\u91cf\u6570\u636e\u8fdb\u884c\u79bb\u7ebf\u4f18\u5316\u6765\u83b7\u5f97\u975e\u5e38\u51c6\u786e\u7684\u4f30\u8ba1\uff0c\u4f46\u72b6\u6001\u89c4\u6a21\u7684\u4e0d\u65ad\u589e\u957f\u963b\u788d\u4e86\u5b9e\u65f6\u8ba1\u7b97\u3002\u5728\u5728\u7ebf\u8ba1\u7b97\u6280\u672f\u4e2d\uff0c\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08EKF\uff09\u4ecd\u7136\u662f\u673a\u5668\u4eba\u9886\u57df\u4e2d\u6700\u53d7\u6b22\u8fce\u7684\u7b97\u6cd5\u4e4b\u4e00\u3002\u7136\u800c\uff0cEKF\u6027\u80fd\u7684\u4e00\u4e2a\u5173\u952e\u6311\u6218\u662f\u4e0d\u4e00\u81f4\u6027\u95ee\u9898\uff0c\u5373\u4e0d\u786e\u5b9a\u6027\u88ab\u4f4e\u4f30\u3002\u6839\u636e\u5bf9EKF\u4e0d\u4e00\u81f4\u6027\u7684\u7814\u7a76\uff0c\u53ef\u89c2\u6d4b\u6027\u7ea6\u675f\u7684\u8fdd\u53cd\u662f\u5bfc\u81f4\u6b64\u7c7b\u95ee\u9898\u7684\u4e3b\u8981\u56e0\u7d20\u3002\u5bf9\u4e8e\u90a3\u4e9b\u90e8\u5206\u53ef\u89c2\u6d4b\u7684\u975e\u7ebf\u6027\u52a8\u6001\u7cfb\u7edf\uff0c\u4f8b\u5982\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff08SLAM\uff09\uff0c\u6807\u51c6EKF\uff08Std-EKF\uff09\u6a21\u578b\u7684\u53ef\u89c2\u6d4b\u65b9\u5411\u53ef\u80fd\u6bd4\u5e95\u5c42<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9D%9E%E7%BA%BF%E6%80%A7%E7%B3%BB%E7%BB%9F&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u975e\u7ebf\u6027\u7cfb\u7edf<\/a>\u5c11\u3002\u6cbf\u7740\u7f3a\u5931\u7684\u4e0d\u53ef\u89c2\u6d4b\u65b9\u5411\u4ea7\u751f\u7684\u865a\u5047\u4fe1\u606f\u589e\u76ca\u6700\u7ec8\u4f1a\u4ea7\u751f\u8fc7\u4e8e\u81ea\u4fe1\u7684\u7ed3\u679c\uff0c\u4ece\u800c\u5bfc\u81f4\u4f30\u8ba1\u7ed3\u679c\u4e0d\u4f73\u3002Std-EKF\u7684\u8fd9\u4e00\u5c40\u9650\u6027\u4e0d\u4ec5\u5728\u5404\u79cdSLAM\u4efb\u52a1\u4e2d\u5f97\u5230\u4e86\u4f53\u73b0\uff0c\u800c\u4e14\u8fd8\u4f53\u73b0\u5728\u5176\u4ed6\u5e94\u7528\u4e2d\uff0c\u5982<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E8%85%BF%E5%BC%8F%E6%9C%BA%E5%99%A8%E4%BA%BA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u817f\u5f0f\u673a\u5668\u4eba<\/a><\/p>\n\n\n\n<p>\u7684\u72b6\u6001\u4f30\u8ba1\u3001\u5f39\u9053\u8f68\u8ff9\u4f30\u8ba1\u548c\u57fa\u4e8e\u5730\u56fe\u7684\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0d\u4e00\u81f4\u6027\u95ee\u9898\uff0c\u76ee\u524d\u4e3b\u8981\u6709\u4e24\u7c7b\u65b9\u6cd5\uff1a\u4e00\u7c7b\u4ee5\u9996\u6b21\u4f30\u8ba1\u96c5\u53ef\u6bd4EKF\uff08FEJ-EKF\uff09\u6216\u53ef\u89c2\u6d4b\u6027\u7ea6\u675fEKF\uff08OC-EKF\uff09\u4e3a\u4ee3\u8868\uff1b\u53e6\u4e00\u7c7b\u4ee5\u4e0d\u53d8EKF\uff08I-EKF\uff09\u4e3a\u4ee3\u8868\u3002\u4e0a\u8ff0\u65b9\u6cd5\u7684EKF\u6a21\u578b\u4fdd\u6301\u4e86\u6b63\u786e\u7684\u53ef\u89c2\u6d4b\u6027\u5c5e\u6027\uff0c\u5373\u5b83\u4eec\u4e0e\u5e95\u5c42\u52a8\u6001\u7cfb\u7edf\u5177\u6709\u76f8\u540c\u7684\u53ef\u89c2\u6d4b\u6027\u7ef4\u5ea6\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4e3a\u4e86\u6ee1\u8db3\u8fd9\u4e00\u53ef\u89c2\u6d4b\u6027\u7ea6\u675f\uff0cFEJ-EKF\u548cOC-EKF\u4e2d\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9B%85%E5%8F%AF%E6%AF%94%E7%9F%A9%E9%98%B5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u96c5\u53ef\u6bd4\u77e9\u9635<\/a><\/p>\n\n\n\n<p>\u4e0d\u662f\u5728\u66f4\u65b0\u540e\u7684\u4f30\u8ba1\u503c\u4e0a\u8bc4\u4f30\u7684\uff0c\u800c\u662f\u4f7f\u7528\u4eba\u4e3a\u8c03\u6574\u7684\u503c\u3002\u8fd9\u53ef\u80fd\u4f1a\u5bfc\u81f4\u51c6\u786e\u6027\u548c\u6536\u655b\u6027\u65b9\u9762\u7684\u6027\u80fd\u4e0d\u4f73[10]\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cI-EKF\u91c7\u7528\u4e86\u7531\u7279\u5b9a\u674e\u7fa4\u7ed3\u6784\u751f\u6210\u7684\u7279\u5b9a\u7ebf\u6027\u5316\uff0c\u56e0\u6b64\u5b83\u4eec\u81ea\u7136\u6ee1\u8db3\u53ef\u89c2\u6d4b\u6027\u7ea6\u675f\u3002I-EKF\u4e2d\u7684\u6240\u6709\u9879\u90fd\u662f\u5728\u5f53\u524d\u66f4\u65b0\u540e\u7684\u4f30\u8ba1\u503c\u4e0a\u8bc4\u4f30\u7684\uff0c\u800c\u4e0d\u662f\u4efb\u4f55\u4eba\u4e3a\u8c03\u6574\u7684\u503c\uff0c\u56e0\u6b64I-EKF\u901a\u5e38\u6bd4FEJ-EKF\u548cOC-EKF\u8868\u73b0\u66f4\u597d\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u4efb\u4f55\u4e00\u822c\u7684\u975e\u7ebf\u6027\u52a8\u6001\u7cfb\u7edf\uff0c\u6211\u4eec\u5e0c\u671b\u627e\u5230\u4e00\u79cd\u7c7b\u4f3c\u4e8eI-EKF\u4e2d\u7684\u7ebf\u6027\u5316\u65b9\u6cd5\uff0c\u57fa\u4e8e\u8be5\u65b9\u6cd5\uff0cEKF\u53ef\u4ee5\u81ea\u7136\u6ee1\u8db3\u53ef\u89c2\u6d4b\u6027\u7ea6\u675f\u3002\u7136\u800c\uff0c\u6700\u8fd1\u7684I-EKF\u6846\u67b6\u9700\u8981\u4e00\u79cd\u7279\u6b8a\u7684\u674e\u7fa4\u7ed3\u6784\uff0c\u8fd9\u53ef\u80fd\u5f88\u96be\u627e\u5230\u3002\u5728\u7279\u5b9a\u95ee\u9898\u4e0a\u8bbe\u8ba1I-EKF\u6240\u91c7\u7528\u7684\u90a3\u4e9b\u7ebf\u6027\u5316\u4f3c\u4e4e\u662f\u7ecf\u9a8c\u6027\u7684\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u73b0\u6709\u6587\u732e\u6ca1\u6709\u4e3a\u4e00\u822c\u72b6\u6001\u4f30\u8ba1\u95ee\u9898\u63d0\u4f9b\u627e\u5230\u8fd9\u79cd\u7279\u5b9a\u7ebf\u6027\u5316\u7684\u660e\u786e\u65b9\u6cd5\u3002\u63a8\u8350\u8bfe\u7a0b\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s%3F__biz%3DMzU1MjY4MTA1MQ%3D%3D%26mid%3D2247662397%26idx%3D2%26sn%3D955d45e54b665f8b256c95e72058250c%26scene%3D21%23wechat_redirect\" target=\"_blank\" rel=\"noreferrer noopener\">\u5f7b\u5e95\u5256\u6790\u6fc0\u5149-\u89c6\u89c9-IMU-GPS\u878d\u5408SLAM\u7b97\u6cd5\uff1a\u7406\u8bba\u63a8\u5bfc\u3001\u4ee3\u7801\u8bb2\u89e3\u548c\u5b9e\u6218<\/a>\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u65e8\u5728\u901a\u8fc7\u63d0\u4f9b\u4e00\u4e2a\u6e05\u6670\u7684\u8fc7\u7a0b\u6765\u586b\u8865\u8fd9\u4e00\u7a7a\u767d\uff0c\u5373\u4e3a\u72b6\u6001\u4f30\u8ba1\u95ee\u9898\u8bbe\u8ba1\u4e00\u4e2a\u7406\u8bba\u4e0a\u5408\u7406\u7684\u3001\u53ef\u4fdd\u6301\u53ef\u89c2\u6d4b\u6027\u7684EKF\u3002\u672c\u6587\u7684\u7075\u611f\u6765\u6e90\u4e8e\u6211\u4eec\u7684\u53d1\u73b0\uff0c\u5373\u5728\u67d0\u4e9b\u95ee\u9898\u4e2d\uff0cStd-EKF\u7684\u53ef\u89c2\u6d4b\u6027\u5dee\u5f02\u53ef\u80fd\u662f\u7531\u4e0d\u53ef\u89c2\u6d4b\u5b50\u7a7a\u95f4\u5bf9\u72b6\u6001\u7684\u4f9d\u8d56\u6027\u5f15\u8d77\u7684\u3002\u5982\u679c\u8fd9\u4e00\u5c5e\u6027\u5bf9\u4e00\u822c\u95ee\u9898\u90fd\u6210\u7acb\uff0c\u90a3\u4e48<strong>\u662f\u5426\u610f\u5473\u7740\u53ea\u8981\u6211\u4eec\u8bbe\u8ba1\u7684\u7ebf\u6027\u5316\u6d88\u9664\u4e86\u8fd9\u79cd\u4f9d\u8d56\u6027\uff0c\u76f8\u5e94\u7684EKF\u5c31\u53ef\u4ee5\u81ea\u7136\u6ee1\u8db3\u53ef\u89c2\u6d4b\u6027\u7ea6\u675f\uff1f<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u56de\u7b54\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u4ece\u4e0d\u53ef\u89c2\u6d4b\u5b50\u7a7a\u95f4\u5bf9\u72b6\u6001\u7684\u4f9d\u8d56\u6027\u89d2\u5ea6\u8bc1\u660e\u4e86\u53ef\u89c2\u6d4b\u6027\u4fdd\u6301\u7684\u4e00\u4e9b\u5145\u5206\u5fc5\u8981\u6761\u4ef6\u3002\u5229\u7528\u8fd9\u4e9b\u65b0\u8bc1\u660e\u7684\u57fa\u4e8e\u53ef\u89c2\u6d4b\u6027\u7684\u4e00\u81f4\u6027\u7406\u8bba\uff0c\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u4e2a\u6846\u67b6\uff0c\u79f0\u4e3a\u4eff\u5c04EKF\uff08Aff-EKF\uff09\uff0c\u5b83\u901a\u8fc7\u5bf9\u5176\u7ebf\u6027\u5316\u6267\u884c\u7279\u5b9a\u7684\u4eff\u5c04\u53d8\u6362\u6765\u4fee\u6b63\u4e0d\u4e00\u81f4\u7684Std-EKF\uff0c\u4ee5\u4fdd\u6301\u6b63\u786e\u7684\u53ef\u89c2\u6d4b\u6027\u5c5e\u6027\u3002\u8fd9\u662f\u4e00\u79cd\u5c06\u4efb\u4f55Std-EKF\u8f6c\u6362\u4e3a\u81ea\u7136\u4fdd\u6301\u6b63\u786e\u53ef\u89c2\u6d4b\u6027\u7684\u901a\u7528\u65b9\u6cd5\uff0c\u5e76\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u6280\u672f\u8fc7\u7a0b\u3002\u66f4\u6709\u8da3\u7684\u662f\uff0c\u901a\u8fc7\u6bd4\u8f83Aff-EKF\u548cStd-EKF\u7684\u516c\u5f0f\uff0c\u6211\u4eec\u53d1\u73b0Std-EKF\u7ebf\u6027\u5316\u4e0a\u7684\u90a3\u4e9b\u4eff\u5c04\u53d8\u6362\u76f8\u5f53\u4e8e\u4fee\u6b63\u4e86\u5176<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8D%8F%E6%96%B9%E5%B7%AE%E7%9F%A9%E9%98%B5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u534f\u65b9\u5dee\u77e9\u9635<\/a><\/p>\n\n\n\n<p>\u7684\u8ba1\u7b97\u3002\u8fd9\u76f4\u89c2\u5730\u5c55\u793a\u4e86Aff-EKF\u5982\u4f55\u89e3\u51b3Std-EKF\u7684\u4e0d\u4e00\u81f4\u6027\u95ee\u9898\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_16106886031_4\"><strong>4. \u4e3b\u8981\u8d21\u732e<\/strong><\/h2>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n<p>\u2022 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\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u6846\u67b6\uff0c\u79f0\u4e3aAff-EKF\uff0c\u7528\u4e8e\u8bbe\u8ba1\u53ef\u4fdd\u6301\u53ef\u89c2\u6d4b\u6027\u7684\u4f30\u8ba1\u5668\uff0c\u8be5\u4f30\u8ba1\u5668\u901a\u8fc7\u9002\u5f53\u7684\u4eff\u5c04\u53d8\u6362\u6765\u4fee\u6b63\u4e0d\u4e00\u81f4\u7684Std-EKF\u3002\u57fa\u4e8e\u5df2\u8bc1\u660e\u7684\u53ef\u89c2\u6d4b\u6027\u4fdd\u6301\u7684\u5145\u5206\u5fc5\u8981\u6761\u4ef6\uff0c\u63d0\u4f9b\u4e86\u8bbe\u8ba1\u6b64\u7c7b\u9002\u5f53\u4eff\u5c04\u53d8\u6362\u7684\u901a\u7528\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p>\u2022 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class=\"wp-block-heading\" id=\"h_16106886031_5\"><strong>5. \u6539\u8fdbSLAM<\/strong><\/h2>\n\n\n\n<p>\u5bf9\u4e8e\u57fa\u4e8e\u5178\u578b\u70b9\u7279\u5f81\u7684SLAM\uff08\u5373\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff09\uff0c\u6211\u4eec\u6bd4\u8f83\u4e86\u5404\u79cdEKF\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=3&amp;q=%E6%89%A9%E5%B1%95%E5%8D%A1%E5%B0%94%E6%9B%BC%E6%BB%A4%E6%B3%A2&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2<\/a><\/p>\n\n\n\n<p>\uff09\u6846\u67b6\u3002\u76f8\u5e94\u7684EKF\u7b97\u6cd5\u5305\u62ecStd-EKF\uff08\u6807\u51c6\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\uff09\u3001FEJ-EKF\u3001OC-EKF\u3001FEJ2-EKF\u3001DRI-EKF\u3001RI-EKF\uff0c\u4ee5\u53ca\u6211\u4eec\u63d0\u51fa\u4e24\u4e2a\u7248\u672c\u7684Aff-EKF\uff08\u4eff\u5c04\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\uff09\u3002<\/p>\n\n\n\n<p>\u4e0d\u540c\u566a\u58f0\u6c34\u5e73\u4e0b\u6574\u4e2a\u8f68\u8ff9\u7684\u5e73\u5747RMSE\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252243632&amp;content_type=Article&amp;match_order=1&amp;q=%E5%9D%87%E6%96%B9%E6%A0%B9%E8%AF%AF%E5%B7%AE&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5747\u65b9\u6839\u8bef\u5dee<\/a><\/p>\n\n\n\n<p>\uff09\u548cNEES\uff08\u5f52\u4e00\u5316\u4f30\u8ba1\u8bef\u5dee\u5e73\u65b9\uff09\u5982\u8868II\u6240\u793a\u3002\u7ed3\u679c\u8868\u660e\uff0c\u9664Std-EKF\u5916\uff0c\u6240\u6709EKF\u65b9\u6cd5\u5747\u80fd\u4ea7\u751f\u4e00\u81f4\u7684\u4f30\u8ba1\u3002\u7136\u800c\uff0cRI-EKF\u548c\u6211\u4eec\u63d0\u51fa\u7684\u4e24\u4e2aAff-EKF\u5728\u51c6\u786e\u6027\u65b9\u9762\u901a\u5e38\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u7efc\u4e0a\u6240\u8ff0\uff0c\u4e0a\u8ff0\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u6846\u67b6\u6781\u5927\u5730\u63d0\u9ad8\u4e86Std-EKF\u7684\u6027\u80fd\uff0c\u5e76\u4e14\u76f8\u5e94\u7684\u4e24\u4e2aAff-EKF\u8fbe\u5230\u4e86\u4e0eRI-EKF\u76f8\u5f53\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-99f77e778a19607da8c260509f277d7d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u672c\u90e8\u5206\u4e2d\uff0c\u6211\u4eec\u9488\u5bf9\u8868I\u63cf\u8ff0\u7684\u73af\u58832\u548c\u73af\u58833\u4e2d\u7684\u57fa\u4e8e\u7ea6\u675f\u70b9\u7279\u5f81\u7684SLAM\u95ee\u9898\uff0c\u5c06\u6211\u4eec\u7684Aff-EKF\u4e0eStd-EKF\u548cIdeal-EKF\uff08Std-EKF\u7684\u4e00\u79cd\u53d8\u4f53\uff0c\u5176\u4e2d\u96c5\u53ef\u6bd4\u77e9\u9635\u5728\u771f\u5b9e\u503c\u5904\u8bc4\u4f30\uff09\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u6bd4\u8f83\u4e86\u5178\u578b\u70b9SLAM\u7684RI-EKF\uff0c\u56e0\u4e3a\u5bf9\u4e8e\u8fd9\u79cd\u7ea6\u675f\u70b9\u60c5\u51b5\uff0c\u76ee\u524d\u6ca1\u6709\u53ef\u7528\u7684I-EKF\u3002\u4e3a\u4e86\u6267\u884c\u6b64\u64cd\u4f5c\uff0c\u8be5RI-EKF\u5ffd\u7565\u4e86\u70b9\u7279\u5f81\u4e0a\u7684\u5e73\u9762\u7ea6\u675f\u3002<\/p>\n\n\n\n<p>\u573a\u666f1\u548c\u573a\u666f2\u4e0b\u4e0d\u540c\u566a\u58f0\u6c34\u5e73\u7684\u5e73\u5747RMSE\u548cNEES\u5206\u522b\u5217\u5728\u8868III\u548c\u8868IV\u4e2d\u3002\u7279\u522b\u5730\uff0c\u5728\u566a\u58f0\u6c34\u5e73\u4e3a\uff080.005, 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