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The high-degree cubature Kalman filter
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Cubature Kalman filter (CKF) has recently drawn much attention due to its more stable performance than the unscented Kalman filter (UKF). This third-degree cubabure rule based nonlinear filter may not be accurate enough in many estimation problems. In this paper, a more general class of CKFs with arbitrary high-degree estimation accuracy is proposed ...
Bin Jia, Ming Xin 0001, Yang Cheng
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A Seventh‐Degree Cubature Kalman Filter
Asian Journal of Control, 2017AbstractThe fifth‐degree cubature Kalman filter (CKF) has been proved to be a kind of algorithm that has higher precision than the third‐degree CKF and unscented Kalman filter (UKF). In order to further improve the performance of CKF, the seventh‐degree CKF is proposed in this paper by expanding the spherical‐radial rule, and a new kind of ...
Meng, Dong +3 more
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Convergence analysis of cubature Kalman filter
2014 European Control Conference (ECC), 2014This paper investigates the stability analysis of cubature Kalman filter (CKF) for nonlinear systems with linear measurement. The certain conditions to ensure that the estimation error of CKF remains bounded are proved. Then, the effect of process noise covariance is investigated and an adaptive process noise covariance is proposed to deal with large ...
Zarei, Jafar +2 more
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Cubature-based Kalman filters for positioning
2010 7th Workshop on Positioning, Navigation and Communication, 2010We review a family of nonlinear filtering methods that includes unscented filters and cubature Kalman filters. These methods approximate the integrals occurring in the Bayesian formulation of the filtering problem by a sum of weighted integrand evaluations calculated at prescribed nodes.
Henri Pesonen, Robert Piché
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A New Derivation of the Cubature Kalman Filters
Asian Journal of Control, 2014ABSTRACTThis paper investigates the cubature Kalman filtering (CKF) for nonlinear dynamic systems. This third‐degree rule based filter employs a spherical‐radial cubature rule to numerically compute the integrals encountered in nonlinear filtering problems, thereby removing the requirements of explicitly computing the Jacobians.
Zhang, Xin-Chun, Teng, Yun-Long
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Double-layer Cubature Kalman Filter
2018 International Conference on Control, Automation and Information Sciences (ICCAIS), 2018The cubature Kalman filter (CKF) algorithm is not suitable for non-Gaussian environments. The cubature particle filter (CPF) algorithm can solve the problem of the CKF algorithm, but it will introduce the problem of a large computational complexity. To solve the above problems, a Double-Layer Cubature Kalman Filter (DLCKF) algorithm is proposed.
Feng Yang 0001 +4 more
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Improved Cubature Kalman Filter for Spacecraft Attitude Estimation
IEEE Transactions on Instrumentation and Measurement, 2021One of the critical challenges in spacecraft attitude estimation is the handling nonlinear non-Gaussian noisy conditions originating from measurement errors, model drifts, and incorrect models. In this article, we propose a new, adaptive and robust nonlinear Kalman filter to address this issue. The proposed filter is derived by casting the problem as a
Zhenbing Qiu, Lei Guo 0003
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Spherical Simplex-Radial Cubature Kalman Filter
IEEE Signal Processing Letters, 2014In this letter, a new class of cubature Kalman filters (CKF) based on a spherical simplex-radial rule is proposed to further improve accuracy and efficiency of the traditional CKF. The transformation group of the regular simplex and the moment matching method are utilized to compute the spherical and radial integrals, respectively.
Shiyuan Wang, Jiuchao Feng, Chi Kong Tse
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Desensitized cubature Kalman filter with uncertain parameters
Journal of the Franklin Institute, 2017zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Tai-Shan Lou +5 more
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On Continuous-Discrete Cubature Kalman Filtering
IFAC Proceedings Volumes, 2012Abstract This paper is concerned with application of cubature integration methods to Kalman filtering of discretely observed non-linear stochastic continuous-time systems. We compare two recently proposed variants of the continuous-discrete cubature Kalman filter (CD-CKF), which differ in the order how the discretization and the Gaussian ...
Simo Särkkä, Arno Solin
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