Existing polar transfer alignment (TA) algorithms are designed based on linear Kalman filters (KF) to estimate misalignment angles. In the case of a large misalignment angle, these algorithms cannot be applied in order to achieve accurate TA. In this paper, a TA algorithm based on an unscented Kalman filter (UKF) is proposed to solve the problem of the large misalignment angle in the polar regi...

In this short paper, we describe the tractography method based on the intrinsic unscented Kalman filer (IUKF) [1]. This method is a generalization of unscented Kalman filter (UKF) and involves the use of intrinsic geometry of the space of symmetric positive definite matrices denoted henceforth by Pn. In this filter, operations that are intrinsic to Pn are employed and thus no explicit constrain...

We introduce the Unscented von Mises–Fisher Filter (UvMFF), a nonlinear filtering algorithm for dynamic state estimation on the n-dimensional unit hypersphere. Estimation problems on the unit hypersphere occur in computer vision, for example when using omnidirectional cameras, as well as in signal processing. As approaches in literature are limited to very simple system and measurement models, ...

This paper proposes an optimized algorithm for 3-D Point Based Rigid Registration. This algorithm uses an Unscented Kalman filter (UKF) for estimating the state vector of transformation, which can be interpreted as a nonlinear function of translation and rotation. In the previous work, we showed that the drawback of the UKF algorithm in estimating high range rotations is due to its sensitivity ...

The stability problem is one of the existing problems of unscented Kalman filter (UKF), which due to the nonlinearity and complexity of system. The precision will be decreased or even UKF will be halted when the algorithm can’t ensure the state covariance to be positive semidefinite. Based on decomposition of state covariance, the paper first reviews two modified UKFs which can enhance the stat...

We present a simplified drift-flux model (DFM) describing a multiphase (gas-liquid) flow during drilling. The DFM uses a specific slip law, without flow-regime predictions, which allows for transition between single and two phase flows. With this model, we design an Unscented Kalman Filter (UKF) for estimation of unmeasured states, production parameters and slip parameters using real time measu...

A dynamic feedback system is developed for estimating the headway and velocity in a longitudinal three-vehicle platoon. The estimation system is modeled using a particle filter (PF) and an unscented Kalman filter (UKF) that estimate them by measuring the acceleration rate and/or velocity of probe vehicle(s) in the platoon. State equations are defined as a discrete conservation equation of headw...

a r t i c l e i n f o a b s t r a c t Keywords: Adaptation Unscented Kalman filter Masreliez–Martin filter Relative navigation Robot arm tracking Unscented Kalman filter (UKF) has been extensively used for state estimation of nonlinear stochastic systems, which suffers from performance degradation and even divergence when the noise distribution used in the UKF and the truth in a real system are...

Localization via Radio Frequency Identification (RFID) is frequently used in different applications nowadays. It has the advantage that next to its ostensible purpose of identifying objects via their unique IDs it can simultaneously be used for the localization of these objects. In this work it is shown how Received Signal Strength Indicator (RSSI) measurements at different antennae of a passiv...