A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem

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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Main Authors: Z., Zolkafli, Saifudin, Razali
Format: Article
Language:English
Published: American Scientific Publishers 2017
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/14035/
http://umpir.ump.edu.my/id/eprint/14035/
http://umpir.ump.edu.my/id/eprint/14035/
http://umpir.ump.edu.my/id/eprint/14035/1/A%20Spherical%20Simplex%20Unscented%20Rauch-TungStriebel.pdf
id ump-14035
recordtype eprints
spelling ump-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
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Z., Zolkafli
Saifudin, Razali
A Spherical Simplex Unscented Rauch-Tung Striebel Smoother for a Vehicle Localization Problem
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
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/
http://umpir.ump.edu.my/id/eprint/14035/
http://umpir.ump.edu.my/id/eprint/14035/
http://umpir.ump.edu.my/id/eprint/14035/1/A%20Spherical%20Simplex%20Unscented%20Rauch-TungStriebel.pdf
first_indexed 2023-09-18T22:17:19Z
last_indexed 2023-09-18T22:17:19Z
_version_ 1777415424455999488

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