A Comprehensive Comparison of Sigma-Point Kalman Filters Applied on a Complex Maneuvering Road

被引：14
|
作者：
Al Shabi, Mohammad [1 ]
Hatamleh, Khaled [2 ]
Al Shaer, Samer [3 ]
Salameh, Iyad [3 ]
Gadsden, S. Andrew [4 ]
机构：
[1] Univ Sharjah, Dept Mech Engn, POB 27272, Sharjah, U Arab Emirates
[2] Jordan Univ Sci & Technol, Dept Mech Engn, Irbid, Jordan
[3] Philadelphia Univ, Dept Mechatron Engn, Amman, Jordan
[4] Univ Maryland Baltimore Cty, Dept Mech Engn, Baltimore, MD 21250 USA
来源：
SIGNAL PROCESSING, SENSOR/INFORMATION FUSION, AND TARGET RECOGNITION XXV | 2016年 / 9842卷
关键词：
Sigma point; Kalman filter; unscented; cubature; central-difference; maneuvering; PARAMETERS;
D O I：
10.1117/12.2224233
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a comprehensive comparison is made of the following sigma-point Kalman filters: unscented Kalman filter (UKF), cubature Kalman filter (CKF), and the central difference Kalman filter (CDKF). A simulation based on a complex maneuvering road (an s-path) is used as a benchmark problem. This paper studies the response, stability, robustness, convergence, and computational complexity of the filters. Future work will look at implementing the methods on a robot built for experimentation.
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收藏
页数：11
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