The accuracy of Global Positioning System (GPS) is increased with the coupling to Inertial Navigation System (INS) to accomplish navigation. This paper proposes an algorithm to filter and fuse the GPS and INS information. Sigma point kalman filter is employed to simulate the information convergence of the dynamic model which maintains better performance in nonlinear system. So we can obtain a b...

This paper presents a novel approach for estimating the ego-motion of a vehicle in dynamic and unknown environments using tightly-coupled inertial and visual sensors. To improve the accuracy and robustness, we exploit the combination of point and line features to aid navigation. The mathematical framework is based on trifocal geometry among image triplets, which is simple and unified for point ...

T his paper investigates the existence of possible spillover effects among four main asset markets namely foreign exchange, stock, gold, and housing markets in Iran from 2002:03 to 2015:06. For this purpose, we have exploited Sigma-Point Kalman Filter (SPKF) to extract the bubble component of assets prices in the aforementioned Markets. Then, in order to analyze the price bubbles spi...

Several groups have proposed the state-space approach to tracking time-varying frequencies of multiharmonic quasiperiodic signals. The extended Kalman filter/smoother (EKF/EKS) is one of the common frequency tracking approaches seen in the literature. We introduce a multiharmonic frequency tracker based on the forward-backward statistical linearized Sigma-Point Kalman smoother (FBSL-SPKS) and c...