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.

引用

页数：11

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