Implementation and analysis of a parallel kalman filter algorithm for lidar localization based on CUDA technology

Abstract

Introduction: Navigation satellite systems can fail to work or work incorrectly in a number of conditions: signal shadowing, electromagnetic interference, atmospheric conditions, and technical problems. All of these factors can significantly affect the localization accuracy of autonomous driving systems. This emphasizes the need for other localization technologies, such as Lidar.Methods: The use of the Kalman filter in combination with Lidar can be very effective in various applications due to the synergy of their capabilities. The Kalman filter can improve the accuracy of lidar measurements by taking into account the noise and inaccuracies present in the measurements.Results: In this paper, we propose a parallel Kalman algorithm in three-dimensional space to speed up the computational speed of Lidar localization. At the same time, the initial localization accuracy of the latter is preserved. A distinctive feature of the proposed approach is that the Kalman localization algorithm itself is parallelized, rather than the process of building a map for navigation. The proposed algorithm allows us to obtain the result 3.8 times faster without compromising the localization accuracy, which was 3% for both cases, making it effective for real-time decision-making.Discussion: The reliability of this result is confirmed by a preliminary theoretical estimate of the acceleration rate based on Ambdahl’s law. Accelerating the Kalman filter with CUDA for Lidar localization can be of significant practical value, especially in real-time and in conditions where large amounts of data from Lidar sensors need to be processed.

Assessment of Communication Resource Allocation by the Transmission Control Protocol for the Target Virtual Connection under Competitive Conditions

“…It is worth noting separately that existing models of asynchronous control procedures for individual transit nodes and transmission protocols [5,20,21] do not account for the utilization of shared network resources, such as the individual inter-node channel bandwidths resulting from the presence of other virtual connections, leading to the formation of queues in the transit-node buffers. Eliminating such a limitation is the starting point of our research.…”

“…Based on the found solutions (20), let us formulate expressions for estimating the bandwidth level of the target virtual connection, which is propagated by a logical channel with characteristics L ≥ 2, s r = 0, and controlled by the transmission protocol in the context of establishing the value of V ≥ 2L + K and T = V + 1. Taking into account (2), we obtain…”

Design and Experiment of an Agricultural Field Management Robot and Its Navigation Control System

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