Basic Localization Alogrithm using Cubature Kalman Filter based on Encoder and Laser

被引：0

作者：

Li, Pengfei ^{[1
]}

Huang, Jingxiong ^{[1
]}

Wan, Mingjie ^{[1
]}

Wang, Shijun ^{[1
]}

Wang, Yi ^{[1
]}

机构：

[1] Air Def Forces Acad, Zhengzhou, Peoples R China

来源：

PROCEEDINGS OF 2012 IEEE 11TH INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING (ICSP) VOLS 1-3 | 2012年

关键词：

Autonomous Navigation; Simultaneous Localization; Cubature Kalman Filter; AUTONOMOUS NAVIGATION; VEHICLE;

D O I：

暂无

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：

This paper presents a basic localization algorithm for the outdoor navigation system. The algorithm uses cubature Kalman filter based on standard dead reckoning sensors and laser range and bearing information. The cubature Kalman filter is used to track the vehicle based on three key models, the vehicle model, the beacon model and the sensor model. The simulation results show that the localization algorithm using cubature Kalman filter performs much better than using the extended Kalman filter.

引用

页码：2300 / 2303

页数：4

共 50 条

[1] Passive Localization Method Based on Cubature Kalman Filter
Wang, Shoufeng
Zhang, Hui
Zhang Shihui
Wang, Baobao
[J]. PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 650 - 654
[2] Simultaneous Localization and Mapping Method Based on Improved Cubature Kalman Filter
Chen, Chaoyang
He, Qi
Ye, Qiubo
Yang, Guangsong
Yang, Cheng-Fu
[J]. SENSORS AND MATERIALS, 2021, 33 (08) : 2591 - 2606
[3] UWB Localization Based on Improved Robust Adaptive Cubature Kalman Filter
Dong, Jiaqi
Lian, Zengzeng
Xu, Jingcheng
Yue, Zhe
[J]. SENSORS, 2023, 23 (05)
[4] Quad-Rotor Flying Vehicle Localization Using Cubature Kalman Filter
Kang, Byeongju
Lee, Deok-jin
[J]. INTERNATIONAL CONFERENCE ON INFORMATICS, CONTROL AND AUTOMATION (ICA 2015), 2015, : 58 - 61
[5] Simultaneous localization and mapping based on iterated square root cubature Kalman filter
Gao, Wei
Zhang, Ya
Sun, Qian
Guan, Jin
[J]. Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2014, 46 (12): : 120 - 124
[6] Passive Localization Method Based on Range-Parameterised Cubature Kalman Filter
Wang, Shoufeng
Li, Hui
Wang, Baobao
[J]. 2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC), 2021, : 280 - 284
[7] Improved Maximum Correntropy Cubature Kalman Filter for Cooperative Localization
Li, Shengxin
Xu, Bo
Wang, Lianzhao
Razzaqi, Asghar A.
[J]. IEEE SENSORS JOURNAL, 2020, 20 (22) : 13585 - 13595
[8] Cubature Kalman Filter Based on Strong Tracking
Zhang Cun
Zhao Meng
Yu Xue-Lian
Cui Ming-Lei
Zhou Yun
Wang Xue-Gang
[J]. PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON COMMUNICATIONS, SIGNAL PROCESSING, AND SYSTEMS, 2015, 322 : 131 - 138
[9] Spatial Target Localization Using Fuzzy Square-Root Cubature Kalman Filter
Ye, Duofu
Lin, Haoshen
Yang, Xiaojun
He, Bing
Pan, Dianheng
[J]. 2016 31ST YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2016, : 73 - 80
[10] Distributed Cubature Kalman Filter Cooperative Localization Based on Parameterized-belief Propagation
Zhou, Lin
Zhang, Lu
Jin, Yong
Hu, Zhentao
Li, Junwei
[J]. JOURNAL OF INTERNET TECHNOLOGY, 2022, 23 (03): : 497 - 507

← 1 2 3 4 5 →