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The square root Unscented Kalman Filter in spacecrafts autonomous navigation
2008 2nd International Symposium on Systems and Control in Aerospace and Astronautics, 2008Concerning the problems in the process of the spacecraftpsilas autonomous navigation, the square-root unscented Kalman filter(SRUKF) is designed to estimate the relative state between the pursuing spacecraft and the target. C-W equation is discreted to iterate.
null Peng Li +2 more
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Square-Root Unscented Kalman Filter for Vehicle Integrated Navigation
2007 International Conference on Machine Learning and Cybernetics, 2007In view of that there exist some defects when the extended Kalman filter (EKF) is applied in nonlinear state estimations, the square-root unscented Kalman filter (SRUKF), as a new nonlinear filtering method, is introduced to instead of EKF for the state-estimation of the vehicle integrated GPS/DR navigation system.
Li-Guo Zhang, Hai-Bo Ma, Yang-Zhou Chen
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A modified square-root unscented Kalman filter restraining outliers
International Conference on Automatic Control and Artificial Intelligence (ACAI 2012), 2012Aiming at solving the problem that the accuracy and stability of Square-root Unscented Kalman Filter(SRUKF) will be affected if there are outliers in the observation values, this paper proposes an improved SRUKF restraining outliers based on orthogonality of innovation in the filtering processing. This modified filter at first detects whether there are
null Xiao Jinli +2 more
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An improved adaptive square root unscented Kalman filter for denoising IFOG signal
2014 International Symposium on Intelligent Signal Processing and Communication Systems (ISPACS), 2014An interferometric fiber optic Gyroscope (IFOG) is a core component in the inertial navigation system (INS), and used to measure the rotation rate of an object based on Sagnac principle. The output of IFOG suffers with noise and random drift errors, due to the variation and fluctuations of the ambient temperature during the operation time. Random drift
Mundla Narasimhappa +2 more
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A numerically stable formulation of the square root unscented Kalman filter for state estimation
2017 20th International Conference on Information Fusion (Fusion), 2017The square root unscented Kalman filter was introduced to provide a more numerically robust formulation of the unscented Kalman filter and to guarantee positive semi-definiteness. The filter maintains the Cholesky factor of the covariance matrix instead of the covariance itself.
Tino Milschewski, Jean-François Bariant
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Square Root Unscented Kalman Filters for State Estimation of Induction Motor Drives
IEEE Transactions on Industry Applications, 2011This paper investigates the application, design, and implementation of the Square Root Unscented Kalman Filter (SRUKF) for induction motor (IM) sensorless drives. The UKF uses nonlinear unscented transforms (UT) in the prediction step in order to preserve the stochastic characteristics of a nonlinear system. The advantage of using the UT is its ability
Saeed Jafarzadeh +2 more
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Iterated Square Root Unscented Kalman Filter for state estimation — CSTR model
2015 IEEE 12th International Multi-Conference on Systems, Signals & Devices (SSD15), 2015In this study, the use of improved Unscented Kalman Filter algorithm based on iterated measurement updates is proposed in an attempt to estimate the nonlinear and non-Gaussian state variables (the concentration and temperature) of the Continuously Stirred Tank Reactor (CSTR) process. Various conventional and state-of-the-art state estimation techniques
Majdi Mansouri +3 more
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Square-root unscented Kalman filter based simultaneous localization and mapping
The 2010 IEEE International Conference on Information and Automation, 2010Simultaneous localization and mapping (SLAM) is concerned to be the key point to realize the real autonomy of mobile robot. Unscented Kalman filter (UKF) is widely applied in SLAM problem because of its directly using of nonlinear model. Concerning that square root filter can ensure non-negative definite of the covariance matrix, this article ...
Shurong Li, Pengfei Ni
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An adaptive square-root unscented Kalman filter for underwater Vehicle navigation
2014 IEEE International Conference on Mechatronics and Automation, 2014In order to increase the approximation accuracy of the state estimate of nonlinear systems and to guarantee numerical stability of the unscented Kalman filter (UKF), a novel adaptive square-root unscented Kalman filter (ASRUKF) based on modified Sage-Husa noise statistics estimator is proposed.
Yanping Lin, Kaizhou Liu, Xiulian Wang
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An improved square root unscented Kalman filter for projectile's attitude determination
2010 5th IEEE Conference on Industrial Electronics and Applications, 2010In this paper, considering the performance of short-time working, inertial flight and high impulse of launch for projectile, an improved square root unscented Kalman filter (UKF) is used. According to the special motional rule of projectile, only use three low-cost MEMS accelerometers as inertial measurement unit to measure the specific force, and ...
null Zhide Liu +4 more
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