Results 11 to 20 of about 13,707 (269)
On the Accuracy of the One-step UKF and the Two-step UKF
2022 IEEE 61st Conference on Decision and Control (CDC), 2022 The most accurate version of the unscented Kalman filter (UKF) involves the construction of two ensembles. To reduce computational cost, however, UKF is often implemented without the second ensemble. This simplification comes at a price, however, since, for linear systems, the one-step variation of the two-step UKF does not specialize to the classical ...
Dennis S Bernstein
exaly +4 more sources
An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
Geodesy and Geodynamics, 2018 To further improve the performance of UKF (Unscented Kalman Filter) algorithm used in BDS/SINS (BeiDou Navigation Satellite System/Strap down Inertial Navigation System), an improved GM-UKF (Gaussian Mixture Unscented Kalman Filter) considering non ...
Lifen Sui, Tian Zeng
exaly +4 more sources
Adaptive IMM-UKF for Airborne Tracking
Aerospace, 2023 In this paper, we propose a nonlinear tracking solution for maneuvering aerial targets based on an adaptive interacting multiple model (IMM) framework and unscented Kalman filters (UKFs), termed as AIMM-UKF. The purpose is to obtain more accurate estimates, better consistency of the tracker, and more robust prediction during sensor outages.
Arroyo Cebeira, Álvaro +1 more
openaire +4 more sources
A Code for Unscented Kalman Filtering on Manifolds (UKF-M) [PDF]
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 The present paper introduces a novel methodology for Unscented Kalman Filtering (UKF) on manifolds that extends previous work by the authors on UKF on Lie groups. Beyond filtering performance, the main interests of the approach are its versatility, as the method applies to numerous state estimation problems, and its simplicity of implementation for ...
Martin Brossard +2 more
openaire +4 more sources
UKF Parameter Tuning for Local Variation Smoothing
2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2021 The unscented Kalman filter (UKF) is a method to solve nonlinear dynamic filtering problems, which internally uses the unscented transform (UT). The behavior of the UT is controlled by design parameters, seldom changed from the values suggested in early UT/UKF publications.
Kristin Nielsen +3 more
openaire +3 more sources
A Dual Forgetting Factor-Based Adaptive IMM-UKF Algorithm for Vehicle Tracking
IEEE AccessIn response to the limitations of the traditional Interacting Multiple Model Unscented Kalman Filter (IMM-UKF) in high-noise environments—particularly its insufficient tracking accuracy and poor adaptability of the noise covariance matrices—
Jiaye Xie
doaj +2 more sources
Evaluation of UKF-Based Fusion Strategies for Autonomous Underwater Vehicles Multisensor Navigation
IEEE Journal of Oceanic Engineering, 2023 In the underwater domain, guaranteeing accurate navigation for an autonomous underwater vehicle (AUV) is a complex but fundamental task to be achieved.
Alessandro Bucci +4 more
semanticscholar +1 more source
MISSILE POSITION ESTIMATION USING UNSCENTED KALMAN FILTER
Barekeng, 2022 Missiles are military rocket weapons having an automatic control system to locate its targets or adjust its direction. Indonesia itself, which is a country of archipelago, covers air area of its largest territory, followed by sea area and land area ...
Teguh Herlambang, Subchan Subchan
doaj +1 more source
On the complexity and consistency of UKF-based SLAM [PDF]
2009 IEEE International Conference on Robotics and Automation, 2009 This paper addresses two key limitations of the unscented Kalman filter (UKF) when applied to the simultaneous localization and mapping (SLAM) problem: the cubic, in the number of states, computational complexity, and the inconsistency of the state estimates. In particular, we introduce a new sampling strategy that minimizes the linearization error and
Guoquan P. Huang 0001 +2 more
openaire +1 more source
Filtering performance analyizing for Relative Navigation using Single Difference Carrier-Phase GPS [PDF]
Journal of Astronomy and Space Sciences, 2008 Satellite formation flying can provide the platform for interferometric observation to acquire the precise data and ensure the flexibility for space mission.
In-Kwan Park +4 more
doaj +1 more source