International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
221 Hybrid Extended /Unscented Square Root Particle Filter with Vehicle Dynamic Based Switching
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MEMS and GPS are in use since decades for navigation of autonomous land and airborne vehicles. To overcome non linearity of navigation mechanization equations unscented filters (UKF) were developed. UKF are only good for Gaussian noise. If the noise depict non Gaussian behavior particle filters are best to estimate. A particle filters which uses unscented filter to propagate system state matrix and covariance is called unscented particle filter (UPF).UPF is in use for Navigation and Self Alignment. The paper has used Particle filter with Unscented Square root (SRUKF) filter called unscented square root particle filter or SRUPF. To reduce computational...