Unscented FastSLAM for UAV

Simultaneous localization and mapping (SLAM) is a necessary prerequisite to make mobile vehicle truly autonomous, which is a hot research topic today. FastSLAM as a successful SLAM method abstracts many researchers´ attentions. FastSLAM factors the SLAM problem into a localization problem and a mapping problem in which the landmark position is estimated by EKF. A modified FastSLAM is presented for uninhabited aerial vehicle (UAV), using UKF to replace the EKF to estimate the landmark position. So we can improve the estimation precision, at the same time no need to linearize the sensor observation model and to compute its Jacobian matrix.