{"title":"UKF算法改进及鲁棒性研究","authors":"Zhongkai Mou, L. Sui","doi":"10.1109/IWISA.2009.5072908","DOIUrl":null,"url":null,"abstract":"Iterated unscented Kalman filter (IUKF) algorithm has improved the unscented Kalman filter (UKF) and enhanced the performance of filter estimation by using Newton-Raphson iterative equation. This paper improves IUKF algorithm ulteriorly after detailedly analyzing principle of IUKF and its iterative equation, and proposes a new filtering algorithm with robustness-Improved IUKF. Then the performance of the new algorithm is validated by two experiments. The results show that the improved IUKF is more robust which can effectively resist the influence of measurement outlier.","PeriodicalId":6327,"journal":{"name":"2009 International Workshop on Intelligent Systems and Applications","volume":"10 1","pages":"1-4"},"PeriodicalIF":0.0000,"publicationDate":"2009-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Improvement of UKF Algorithm and Robustness Study\",\"authors\":\"Zhongkai Mou, L. Sui\",\"doi\":\"10.1109/IWISA.2009.5072908\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Iterated unscented Kalman filter (IUKF) algorithm has improved the unscented Kalman filter (UKF) and enhanced the performance of filter estimation by using Newton-Raphson iterative equation. This paper improves IUKF algorithm ulteriorly after detailedly analyzing principle of IUKF and its iterative equation, and proposes a new filtering algorithm with robustness-Improved IUKF. Then the performance of the new algorithm is validated by two experiments. The results show that the improved IUKF is more robust which can effectively resist the influence of measurement outlier.\",\"PeriodicalId\":6327,\"journal\":{\"name\":\"2009 International Workshop on Intelligent Systems and Applications\",\"volume\":\"10 1\",\"pages\":\"1-4\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-05-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 International Workshop on Intelligent Systems and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IWISA.2009.5072908\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 International Workshop on Intelligent Systems and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IWISA.2009.5072908","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Iterated unscented Kalman filter (IUKF) algorithm has improved the unscented Kalman filter (UKF) and enhanced the performance of filter estimation by using Newton-Raphson iterative equation. This paper improves IUKF algorithm ulteriorly after detailedly analyzing principle of IUKF and its iterative equation, and proposes a new filtering algorithm with robustness-Improved IUKF. Then the performance of the new algorithm is validated by two experiments. The results show that the improved IUKF is more robust which can effectively resist the influence of measurement outlier.
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