Evaluation of Localization by Extended Kalman Filter, Unscented Kalman Filter, and Particle Filter-Based Techniques

The Particle Filter and Extended Kalman Filter methods for the structural system identification considering various uncertainties

Structural system identification using recursive methods has been a research direction of increasing interest in recent decades. The two prominent methods, including the Extended Kalman Filter (EKF) and the Particle Filter (PF), also known as the Sequential Monte Carlo (SMC), are advantageous in this field. In this study, the system identification of a shake table test of a 4-story steel struct...

The Unscented Kalman Filter

In this book, the extended Kalman filter (EKF) has been used as the standard technique for performing recursive nonlinear estimation. The EKF algorithm, however, provides only an approximation to optimal nonlinear estimation. In this chapter, we point out the underlying assumptions and flaws in the EKF, and present an alternative filter with performance superior to that of the EKF. This algorit...

Doppler and bearing tracking using fuzzy adaptive unscented Kalman filter

The topic of Doppler and Bearing Tracking (DBT) problem is to achieve a target trajectory using the Doppler and Bearing measurements. The difficulty of DBT problem comes from the nonlinearity terms exposed in the measurement equations. Several techniques were studied to deal with this topic, such as the unscented Kalman filter. Nevertheless, the performance of the filter depends directly on the...

Initializing An Unscented Kalman Filter Using A Particle Filter

This work develops an algorithm to initialize an Unscented Kalman Filter using a Particle Filter for applications with initial non-Gaussian probability density functions. The method is applied to estimating the position of a road vehicle along a one-mile test track using terrain-based localization where the pitch response of the vehicle is compared to a premeasured pitch map of the test track. ...

Extended Kalman Filter Based Fuzzy Adaptive Filter