Satellite autonomous orbit determination OD is a complex process using filtering method to integrate observation and orbit dynamic equations effectively and estimate the position and velocity of a satellite. Therefore, the filtering method plays an important role in autonomous orbit determination accuracy and time consumption. Extended Kalman filter EKF , unscented Kalman filter UKF , and unsce...

This paper describes a new approach for mobile robot navigation using an interval analysis based adaptive mechanism for an Unscented Kalman filter. The robot is equipped with inertial sensors, encoders and ultrasonic sensors. The map used for this study is two-dimensional and it is assumed to be known a-priori. Multiple sensor fusion for robot localisation and navigation has attracted a lot of ...

An unscented Kalman filter (UKF) for matrix Lie groups is proposed where the time propagation of state formulated on algebra. This done with kinematic differential equation logarithm, inverse right Jacobian used. The sigma points can then be expressed as logarithms in vector form, and computation mean covariance resulting formulation to a large extent based form is, therefore, closer UKF system...

A convergence analysis of the modified unscented Kalman filter (UKF), used as an observer for a class nonlinear deterministic continuous time systems, is presented. Under certain conditions, extended (EKF) exponential non-linear i.e., dynamics estimation error exponentially stable. It shown that unlike EKF, UKF not converging observer. modification – proposed, which better candidate This paper ...

This paper addresses the problem of integration of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) for the purpose of developing a low-cost, robust and highly accurate navigation system for unmanned surface vehicles (USVs). A tightly-coupled integration approach is one of the most promising architectures to fuse the GNSS data with INS measurements. However, the re...

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...

The unscented Kalman filter (UKF) is adopted in the interacting multiple model (IMM) framework to deal with the system nonlinearity in navigation applications. The adaptive tuning system (ATS) is employed for assisting the unscented Kalman filter in the IMM framework, resulting in an interacting multiple model adaptive unscented Kalman filter (IMM-AUKF). Two models, a standard UKF and an adapti...