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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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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 |
| _version_ | 1825823092286423040 |
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| author | Z., Zolkafli Saifudin, Razali |
| author_facet | Z., Zolkafli Saifudin, Razali |
| author_sort | Z., Zolkafli |
| collection | UMP |
| description | 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 |
| first_indexed | 2024-03-06T12:06:15Z |
| format | Article |
| id | UMPir14035 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:06:15Z |
| publishDate | 2017 |
| publisher | American Scientific Publishers |
| record_format | dspace |
| spelling | UMPir140352017-08-28T06:29:24Z 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. (Published) https://doi.org/10.1166/asl.2017.7420 DOI: 10.1166/asl.2017.7420 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Z., Zolkafli Saifudin, Razali A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem |
| title | 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_short | 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 |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/14035/1/A%20Spherical%20Simplex%20Unscented%20Rauch-TungStriebel.pdf |
| work_keys_str_mv | AT zzolkafli asphericalsimplexunscentedrauchtungstriebelsmootherforavehiclelocalizationproblem AT saifudinrazali asphericalsimplexunscentedrauchtungstriebelsmootherforavehiclelocalizationproblem AT zzolkafli sphericalsimplexunscentedrauchtungstriebelsmootherforavehiclelocalizationproblem AT saifudinrazali sphericalsimplexunscentedrauchtungstriebelsmootherforavehiclelocalizationproblem |