Erol Duymaz, Abdullah Ersan Oğuz, Hakan Temeltaş

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

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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