A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2023; you can also visit the original URL.
The file type is application/pdf.
Filters
A Multiple-Step, Randomly Delayed, Robust Cubature Kalman Filter for Spacecraft-Relative Navigation
2023
Aerospace (Basel)
Preserved Fulltext
The MRD-DCSCKF has been applied to vision-based spacecraft-relative navigation simulations, where quaternions are adopted to represent spacecraft's attitude kinematics, and the attitude update is completed ...
We propose a non-linear, multiple-step, randomly delayed, robust filter, referred to as the multiple-step, randomly delayed, dynamic-covariance-scaling cubature Kalman filter (MRD-DCSCKF). ...
The performances of robust filters based on generalized great likelihood estimations mainly depend on robust kernel functions, which restrict the anomalous measurements [29] . ...
doi:10.3390/aerospace10030289
fatcat:lrrfxogrtbhz5dl5zlusyaajdy
Underwater square-root cubature attitude estimator by use of quaternion-vector switching and geomagnetic field tensor
2020
Journal of Systems Engineering and Electronics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
This paper presents a kind of attitude estimation algorithm based on quaternion-vector switching and square-root cubature Kalman filter for autonomous underwater vehicle (AUV). ...
The filter formulation is based on geomagnetic field tensor measurement dependent on the attitude and a gyro-based model for attitude propagation. ...
A few quaternion-based attitude estimation algorithms in the cubature Kalman filtering framework were studied. ...
doi:10.23919/jsee.2020.000055
fatcat:nmmhrc7zdvg4xaalorgqrpyuo4
Attitude and Heading Estimation for Indoor Positioning Based on the Adaptive Cubature Kalman Filter
2021
Micromachines
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
This paper proposes a quaternion-based adaptive cubature Kalman filter (ACKF) algorithm to estimate the attitude and heading based on smart phone-embedded MARG sensors. ...
Accurate attitude and heading estimation based on magnetic, angular rate, and gravity (MARG) sensors of micro-electro-mechanical systems (MEMS) has received increasing attention due to its high availability ...
Informed Consent Statement: Not applicable. Data Availability Statement: Data sharing is not applicable to this article.
Conflicts of Interest: The authors declare no conflict of interest. ...
doi:10.3390/mi12010079
pmid:33451172
pmcid:PMC7828706
fatcat:d2746qacfrcp5jxbu22wg33pti
An improved nonlinear FastEuler AHRS estimation based on the SVDCKF algorithm
[article]
2020
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
In this paper, we present a Singular Value Decomposition Cubature Kalman Filter(SVDCKF) fusion algorithm based on the improved nonlinear FastEuler Attitude and Heading Reference and System(AHRS) estimation ...
The contributions of this work are the derivation of the low-cost IMU/MAG integrated AHRS model combined with the quaternion attitude determination, and use the FastEuler to correct the gyroscope attitude ...
Pourtakdoust [11] proposed the quaternion orientation estimation based on the adaptive Unsecnted Kalman Filter, which can capture the effect of nonlinear AHRS model up to second-order without the need ...
arXiv:2002.08317v1
fatcat:gkniw47ysfebnim6iqioidzsxy
Mems Imu/Zupt Based Cubature Kalman Filter Applied To Pedestrian Navigation System
2014
Zenodo
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Cubature Information Filter has been also implemented for sake of completeness. ...
In most related work with Pedestrian navigation, indirect filtering approach is used based on linear error based Kalman Filter (KF). ...
MEMS IMU gyroscopes output ( original view and zoomed view of 03 angular rates x,
Cubature Information Filter/ CKF based on ZUPT/ZARU Updates: Fig5. ...
doi:10.5281/zenodo.582946
fatcat:bvscnbxvqrelzli5pvctwamwou
Nonlinear Extended Kalman Filter for Attitude Estimation of the Fixed-Wing UAV
2022
International Journal of Optics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
This research article designs two filtering algorithms for fixed-wing UAVs which are nonlinear for the attitude estimation. The filters are based on Kalman filters. ...
The unscented Kalman filter (UKF) and cubature Kalman filter (CKF) were designed with different parameterizations of attitude, i.e., Euler angle (EA) and INS/unit quaternion (UQ) simultaneously. ...
Unscented Kalman Filter (UKF) Based on EA. e UKF is articulated in the base of EA coordinates for the estimation of the airframe attitude of the UAV. ...
doi:10.1155/2022/7883851
fatcat:2n2sitdgk5hdxakt6msrkxitsm
An Intelligent Quaternion SVDCKF AHRS Estimation with Variable Adaptive Methods in Complex Conditions
[article]
2020
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Note that this fulltext copy is not of the "primary" version of this work. The version it corresponds to is:
2020 pre-print arXiv:2002.03920v1 fatcat:olxrkrugbvajfchdhyihk5hybe
The simulation and experiment results demonstrate that the proposed filter algorithm has the more excellent attitude solution accuracy and robustness than both the Complementary Filter(CF) and the Error ...
Aimed at solving the problem of Attitude and Heading Reference System(AHRS) in the complex and dynamic conditions for small-UAV, An intelligent Singular Value Decomposition Cubature Kalman Filter(SVDCKF ...
Jin Wu (Wu et al., 2016) proposed a fast CF fusion algorithm based on the quaternion attitude estimation, and designed the step-by-step filtering to eliminate the influence of outliers of the magnetometer ...
arXiv:2002.03920v2
fatcat:fpduognsunhl5ovflvvutrv4fi
Smartphone-Based Pedestrian Dead Reckoning for 3D Indoor Positioning
2021
Sensors
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
A quaternion-based robust adaptive cubature Kalman filter (RACKF) algorithm is proposed to estimate the heading of pedestrians based on magnetic, angular rate, and gravity (MARG) sensors. ...
Combined with the differential barometric altimetry method, the optimal height can be computed by the robust adaptive Kalman filter (RAKF) algorithm. ...
Our contributions are as follows: Firstly, a robust adaptive cubature Kalman filter algorithm is proposed for attitude and heading estimation based on MARG sensors. ...
doi:10.3390/s21248180
pmid:34960273
pmcid:PMC8706353
fatcat:2kp72fy3ezhevncpchl2yr5v7e
Invariant Cubature Kalman Filter for Monocular Visual Inertial Odometry with Line Features
[article]
2019
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
To achieve robust and accurate state estimation for robot navigation, we propose a novel Visual Inertial Odometry(VIO) algorithm with line features upon the theory of invariant Kalman filtering and Cubature ...
To demonstrate the effectiveness of the proposed algorithm, we compare it with the state-of-the-art filtering-based VIO algorithms on Euroc datasets. ...
and textureless scene, which make line-based filter preform more robust and accurately. ...
arXiv:1912.11749v1
fatcat:qagl5lewszd6npamlavxe7tmta
Sparse Gauss-Hermite Quadrature Filter with Application to Spacecraft Attitude Estimation
2011
Journal of Guidance Control and Dynamics
Preserved Fulltext
The Internet Archive has digitized a microfilm copy of this work. It may be possible to borrow a copy for reading.
A more robust approach named the extended quaternion estimator, based on the EKF and quadratic constrained programming, was proposed in [12]. ...
They include the Gauss—Hermite quad- rature filter (GHQF) based on the Gauss—Hermite quadrature (GHQ) rule [15,16], the UKF based on the unscented transformation (UT) [6,7], the cubature Kalman filter ...
doi:10.2514/1.52016
fatcat:z5yhnc5wsbex7egqhbdcxoc25q
On the performance of inertial/GNSS/Doppler Velocity Log integrated navigation systems for marine applications
2015
2015 DGON Inertial Sensors and Systems Symposium (ISS)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Within the presented work the development of an affordable integrated PNT unit for future on-board integrated systems is presented, where the GNSS information is fused both with inertial and Doppler Velocity ...
The nonlinearity of this advanced fusion problem is addressed by employing different forms of Sigma-Points Kalman Filter (SPKF) and further detailed analysis is presented in terms of the process and measurement ...
, longer GNSS outages could be necessary in order see the impact of attitude accuracy on the estimated position. ...
doi:10.1109/inertialsensors.2015.7314276
fatcat:w6ytkqvxkrasjl6g5q6uurd3ma
Improved Cubature Kalman Filtering on Matrix Lie Groups Based on Intrinsic Numerical Integration Error Calibration with Application to Attitude Estimation
2022
Machines
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
The proposed filters were applied to the quaternion attitude estimation problem. ...
The estimator was then employed to develop a generalized Bayes–Sard cubature Kalman filter on matrix Lie groups that considers additional uncertainties brought by integration errors and contains two variants ...
Numerical simulation results on quaternion attitude estimation indicated the superiority of our proposed filters over CKFs on Lie groups and unvariant EKFs. ...
doi:10.3390/machines10040265
fatcat:75grimglqzfbbfl3eyvflnzwpy
Robust SCKF Filtering Method for MINS/GPS In-Motion Alignment
2021
Sensors
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
This paper presents a novel multiple strong tracking adaptive square-root cubature Kalman filter (MSTASCKF) based on the frame of the Sage–Husa filter, employing the multi-fading factor which could automatically ...
The simulation results show that the proposed filter can significantly reduce the attitude estimation error caused by random vibration. ...
Informed Consent Statement: Not applicable. Data Availability Statement: Not applicable.
Conflicts of Interest: The authors declare no conflict of interest. ...
doi:10.3390/s21082597
pmid:33917236
fatcat:dsv2i264lrglveyl6ghx4f5zbi
Maximum Likelihood-Based Measurement Noise Covariance Estimation Using Sequential Quadratic Programming for Cubature Kalman Filter Applied in INS/BDS Integration
2021
Mathematical Problems in Engineering
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
This paper proposes a method of cubature Kalman filter (CKF) with the measurement noise covariance estimation by using the maximum likelihood principle to solve the abovementioned problem. ...
Simulation and comparison analysis verify that the proposed method can accurately estimate measurement noise covariance to effectively restrain its influence on navigation solution, leading to improved ...
An error model with nonlinear characteristics is established based on the additive quaternion, and the differences of velocity and position information between INS and BDS are taken as the measurement ...
doi:10.1155/2021/9383678
fatcat:uuf4vwqro5hiloocsoq5zszstu
A Robust Cubature Kalman Filter with Abnormal Observations Identification Using the Mahalanobis Distance Criterion for Vehicular INS/GNSS Integration
2019
Sensors
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
This paper develops a novel robust CKF with scaling factor by combining the emerging cubature Kalman filter (CKF) with the concept of Mahalanobis distance criterion to address the above problem involved ...
The proposed robust CKF can effectively resist the influence of abnormal observations on navigation solution and thus improves the robustness of CKF for vehicular INS/GNSS integration. ...
CKF is a deterministic sampling filter based on the third-degree spherical-radical cubature rule for nonlinear systems. ...
doi:10.3390/s19235149
pmid:31775260
pmcid:PMC6929120
fatcat:n3q75nas4belbk4eotrozzyvh4
« Previous
Showing results 1 — 15 out of 61 results