Title :
Accuracy Optimization of UKF Algorithms in Mobile-Robot System
Author :
Yanbing Wang;Zhiguo Shi
Author_Institution :
Sch. of Comput. &
Abstract :
Calculating Unscented Kalman Filter for each iteration of the filter should cost a lot of computing resources, which will delay the entire UKF compute cycles, and reduce the system timeliness. And also the Kalman Filter is easy to diverge. Improving the UT transform can reduce its computational complexity, and introducing attenuation factor can prevent the filter divergence. Finally, the simulation was validated.
Keywords :
"Filtering algorithms","Computational modeling","Kalman filters","Attenuation","Transforms","Covariance matrices"
Conference_Titel :
Computational Intelligence and Design (ISCID), 2015 8th International Symposium on
Print_ISBN :
978-1-4673-9586-1
DOI :
10.1109/ISCID.2015.50
