TY - GEN
T1 - A bearing-only localization solved by an unscented rauch-tung-striebel smoothing
AU - Razali, Saifudin
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2011/12/1
Y1 - 2011/12/1
N2 - The unscented Kalman filter (UKF) has become an alternative in nonlinear estimation problems to overcome the limitation of Taylor series linearization used by the extended Kalman filter (EKF). 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 we examine an unscented smoother based on Rauch-Tung-Striebel form for discrete-time dynamic systems. This smoother has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. This smoothing technique has been implemented and evaluated through a bearing-only localization problem.
AB - The unscented Kalman filter (UKF) has become an alternative in nonlinear estimation problems to overcome the limitation of Taylor series linearization used by the extended Kalman filter (EKF). 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 we examine an unscented smoother based on Rauch-Tung-Striebel form for discrete-time dynamic systems. This smoother has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. This smoothing technique has been implemented and evaluated through a bearing-only localization problem.
KW - Bearing-only localization problem
KW - Rauch-tung-striebel smoother
KW - Unscented transformation
UR - http://www.scopus.com/inward/record.url?scp=84866693493&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866693493&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84866693493
SN - 9784990288051
T3 - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
SP - 399
EP - 402
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
T2 - 16th International Symposium on Artificial Life and Robotics, AROB '11
Y2 - 27 January 2011 through 29 January 2011
ER -