A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem
The unscented Kalman filter (UKF) has become relatively a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed...
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American Scientific Publishers
2017
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Online Access: | http://umpir.ump.edu.my/id/eprint/14035/1/A%20Spherical%20Simplex%20Unscented%20Rauch-TungStriebel.pdf http://umpir.ump.edu.my/id/eprint/14035/ https://doi.org/10.1166/asl.2017.7420 |
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my.ump.umpir.140352017-08-28T06:29:24Z http://umpir.ump.edu.my/id/eprint/14035/ A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem Z., Zolkafli Saifudin, Razali TK Electrical engineering. Electronics Nuclear engineering The unscented Kalman filter (UKF) has become relatively a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed in many literature. However, a nonlinear smoothing problem has received less attention than the filtering problem. Therefore, in this article an unscented smoother based on Rauch-Tung-Striebel form is examined for discrete-time dynamic systems. It has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. In addition, new sampling technique known as a spherical simplex has been introduced and evaluated. To show the effectiveness of the proposed method, the unscented smoother is implemented and evaluated through a vehicle localization problem American Scientific Publishers 2017-06 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/14035/1/A%20Spherical%20Simplex%20Unscented%20Rauch-TungStriebel.pdf Z., Zolkafli and Saifudin, Razali (2017) A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem. Advanced Science Letters, 23 (6). pp. 5556-5560. ISSN 1936-6612 https://doi.org/10.1166/asl.2017.7420 DOI: 10.1166/asl.2017.7420 |
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TK Electrical engineering. Electronics Nuclear engineering Z., Zolkafli Saifudin, Razali A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
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The unscented Kalman filter (UKF) has become relatively a new technique used in a number of nonlinear estimation
problems to overcome the limitation of Taylor series linearization. It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed in many literature. However, a nonlinear smoothing problem has received less attention than the filtering problem. Therefore, in this article an unscented smoother based on Rauch-Tung-Striebel form is examined for discrete-time dynamic systems. It has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. In addition, new sampling technique known as a spherical simplex has been introduced and evaluated. To show the effectiveness of the proposed method, the unscented smoother is implemented and evaluated through a vehicle localization problem |
format |
Article |
author |
Z., Zolkafli Saifudin, Razali |
author_facet |
Z., Zolkafli Saifudin, Razali |
author_sort |
Z., Zolkafli |
title |
A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
title_short |
A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
title_full |
A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
title_fullStr |
A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
title_full_unstemmed |
A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
title_sort |
spherical simplex unscented rauch-tung striebel smoother for a vehicle localization problem |
publisher |
American Scientific Publishers |
publishDate |
2017 |
url |
http://umpir.ump.edu.my/id/eprint/14035/1/A%20Spherical%20Simplex%20Unscented%20Rauch-TungStriebel.pdf http://umpir.ump.edu.my/id/eprint/14035/ https://doi.org/10.1166/asl.2017.7420 |
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1643667322061193216 |
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13.18916 |