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A Comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM Algorithms
2012 IEEE 16th International Conference on Intelligent Engineering Systems (INES), 2012This study aims to contribute a comparison of various simultaneous localization and mapping (SLAM) algorithms that have been proposed in literature. The performance of Extended Kalman Filter (EKF) SLAM, Unscented Kalman Filter (UKF) SLAM, EKF-based FastSLAM version 2.0, and UKF-based FastSLAM (uFastSLAM) algorithms are compared in terms of accuracy of ...
Kurt Yavuz, Zeyneb, Kurt Yavuz, Zeyneb
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Distributed Nonlinear Fusion UKF
2020 IEEE 16th International Conference on Control & Automation (ICCA), 2020This paper is concerned with the distributed fusion estimation problem for nonlinear multi-sensor systems. As is well known, the weighted fusion methods minimize the trace of fusion estimate error covariance, and it can be divided into three categories: scalar weighting, diagonal matrix weighting and matrix weighting, in which the matrix weighting has ...
Zhongyao Hu +4 more
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Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
In this paper we propose a SLAM framework which is based on an algorithm that combines an unscented particle filter (UPF) and unscented Kalman filters (UKFs). A UPF is used to estimate robot's poses and the UKFs are used to represent landmark positions.
Xiang Wang 0008, Hong Zhang 0013
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In this paper we propose a SLAM framework which is based on an algorithm that combines an unscented particle filter (UPF) and unscented Kalman filters (UKFs). A UPF is used to estimate robot's poses and the UKFs are used to represent landmark positions.
Xiang Wang 0008, Hong Zhang 0013
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Geomagnetic orbit determination: EKF or UKF?
Aircraft Engineering and Aerospace Technology, 2021Purpose Autonomous orbit determination using geomagnetic measurements is an important backup technique for safe spacecraft navigation with a mere magnetometer. The geomagnetic model is used for the state estimation of orbit elements, but this model is highly nonlinear.
Wu, Jin +4 more
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A high precision indoor positioning method based on UKF
Journal of Intelligent & Fuzzy Systems, 2022Aiming at the nonlinear filter problem in Ultra Wide Band (UWB) navigation and position, a high-order Unscented Kalman Filter (UKF) position method is proposed. On the one hand, the position and velocity are used as state variables to establish a nonlinear filtering model based on UWB position system.
Mujie Zhao, Tao Zhang, Di Wang
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Performance evaluation of UKF-based nonlinear filtering
Automatica, 2006zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Kai Xiong, H. Y. Zhang, C. W. Chan
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UKF based two-timescale control for a helicopter
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016UKF based two-timescale control method is proposed for a helicopter to overcome model errors in this paper. According to the time-scale separation principle, the helicopter is decomposed into two lower-order systems: the slow subsystem and the fast subsystem. Backstepping control and inverse dynamic control method are developed for these two subsystems
Qi Song, Zhe Jiang 0003
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Nonlinear Target Identification and Tracking Using UKF
2007 IEEE International Conference on Granular Computing (GRC 2007), 2007In this paper, we implemented target identification algorithm using Dempster Shafer theory (DST) and tracking algorithm using extended Kalman filter (EKF) and unscented Kalman filter (UKF). A tracking filter is developed and simulated based on UKF to track nonlinear, ballistic and reentry targets.
KHAIRNAR, DG +3 more
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Multicue HMM-UKF for real-time contour tracking
IEEE Transactions on Pattern Analysis and Machine Intelligence, 2006We propose an HMM model for contour detection based on multiple visual cues in spatial domain and improve it by joint probabilistic matching to reduce background clutter. It is further integrated with unscented Kalman filter to exploit object dynamics in nonlinear systems for robust contour tracking.
Yunqiang Chen, Yong Rui, Thomas S. Huang
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A heuristic for sigma set selection of UKF
2014 12th International Conference on Signal Processing (ICSP), 2014In this paper we present a higher order moment-matching algorithm for computing the distribution parameters of nonlinear transformation random variables. The new algorithm has two distinct aspects compared to the standard Unscented Kalman Filter (UKF).
Yujin Wang +3 more
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