For the problem of poor stability,

For the problem of poor stability, because the higher-order term is not ignored, the calculation accuracy of nonlinear distribution statistics is high.In the case of external interference, the traditional Kalman filtering algorithm will lead to a sharp increase in error, but the error will gradually decrease with the continuous observation to update the state, so the algorithm does not need to consider the problem of external interference.The traditional UKF-SLAM algorithm does not consider the influence of external interference. Therefore, when external interference occurs, the UKF-SLAM algorithm will lead to much less uncertainty in the prediction than the real situation, thus reducing the prediction accuracy and robustness of SLAM.In order to reduce the impact of external interference on SLAM algorithm, the algorithm with the maximum incremental expected value is adopted to detect external interference.