Year: 2019
Type: preprint
Abstract: This article introduces a new algorithm for nonlinear state estimation based on deterministic sigma point and EKF linearized framework for priori mean and covariance respectively. This method reduces the computation cost of UKF about 50% and has better accuracy compared to EKF due to propagating mean and Covariance of state to 3rd order Taylor series. Several types of Kalman filter have been presented before to reduce the computation cost of UKF, however, this new KF is a better choice because of its simplicity, numerical stability, and accuracy for real-time implementation. Examples verify the effectiveness of the proposed method.
Source: arXiv (Cornell University)
Institution: Amirkabir University of Technology
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2962858161