The Unscented Kalman Filter (UKF) is a well-known nonlinear state estimation method. It shows superior performance at nonlinear estimation compared to the Extended Kalman Filter (EKF). This paper is devoted to an investigation between UKF and EKF with different feedback control modes in vehicle navigation. Theoretical formulation, simulation and field tests have been carried out to compare the performance of UKF and EKF. The simulation and test results demonstrate that the estimated state of a UKF relies on the measurements and is less sensitive to historical model information. The results also indicate that UKF has benefits for prototype model design due to avoidance of calculation of a Jacobian matrix. EKF, however, is more computationally efficient and more stable.


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    Title :

    Comparison of Unscented and Extended Kalman Filters with Application in Vehicle Navigation



    Published in:

    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    53.84 Ortungstechnik, Radartechnik / 53.84 / 55.54 Flugführung / 42.89 / 55.20 / 55.44 / 55.86 / 55.54 / 55.86 Schiffsverkehr, Schifffahrt / 55.20 Straßenfahrzeugtechnik / 42.89 Zoologie: Sonstiges / 55.44 Schiffsführung
    Local classification TIB:    275/5680/7035





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