Name
Title | ||
|---|---|---|
Comparison of angle-only filtering algorithms in 3D using Cartesian and modified spherical coordinates |
Abstract | ||
|---|---|---|
We compare the performance of the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF) for the angle-only filtering problem in 3D using bearing and elevation measurements from a single maneuvering sensor. These nonlinear filtering algorithms use discrete-time dynamic and measurement models. Two types of coordinate systems are considered, Cartesian coordinates and modified spherical coordinates (MSC) for the relative state vector. The paper presents new algorithms using the UKF and PF with the MSC. We also present an improved filter initialization algorithm. Numerical results from Monte Carlo simulations show that the EKF-MSC and UKF-MSC have the best state estimation accuracy among all nonlinear filters considered and have comparable accuracy with modest computational cost. |
Year | Venue | Keywords |
|---|---|---|
2012 | Fusion | unscented kalman filter,kalman filters,angle-only filtering algorithms,msc,modified spherical coordinates,discrete-time measurement models,monte carlo simulations,cartesian spherical coordinates,ekf-msc,elevation measurements,ukf-msc,numerical analysis,discrete-time dynamic models,modified spherical coordinates (msc),particle filter,improved filter initialization algorithm,nonlinear filtering algorithms,extended kalman filter (ekf),pf,monte carlo methods,bearing measurements,angle-only filtering in 3d,unscented kalman filter (ukf),nonlinear filtering (nlf),extended kalman filter,particle filter (pf),nonlinear filters,mathematical model,vectors,noise,covariance matrix |
Field | DocType | ISBN |
Extended Kalman filter,Control theory,Computer science,Particle filter,Filter (signal processing),Algorithm,Unscented transform,Kalman filter,Filtering problem,Invariant extended Kalman filter,Spherical coordinate system | Conference | 978-0-9824438-4-2 |
Citations | PageRank | References |
2 | 0.52 | 4 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mahendra Mallick | 1 | 44 | 9.55 |
| Mark R. Morelande | 2 | 195 | 24.96 |
| Lyudmila Mihaylova | 3 | 623 | 75.41 |
| Sanjeev Arulampalam | 4 | 142 | 19.13 |
| Yanjun Yan | 5 | 30 | 9.73 |