Dynamic Construction Method of Aircraft Cable Assembly Process Model Based on SLAM Algorithm

Aiming at problems such as the fact that the aircraft cable assembly process file is not related to actual data and the pose uncertainty of the cable assembly path in actual assembly, this paper proposes a method for constructing a dynamic model of aircraft cable assembly process based on Simultaneous Localization And Mapping (SLAM) algorithm. SLAM of Random Finite Set (RFS) performs position and posture tracking of cables during the laying process to dynamically construct the process model of aircraft cable assembly. In the framework of RFS, this method uses Gaussian Mixture Probability Hypothesis Density (GM-PHD) to predict and update the feature information of map components according to the data collected by the sensor. Using Square Root Transformed Unscented Kalman Filter (SRTUKF) and a single feature strategy to estimate the pose of the aircraft cable assembly path. Finally, the method proposed in this paper is verified by an example.