In this paper, we investigate the consistency of extended Kalman filter (EKF)-based cooperative localization (CL) from the perspective of observability. We analytically show that the error-state system model employed in the standard EKF-based CL always has an observable subspace of higher dimension than that of the actual nonlinear CL system. This results in unjustified reduction of the EKF cov...

The ground moving target indicator (GMTI) radar sensor plays an important role in situation awareness of the battlefield, surveillance, and precision tracking of ground targets. The extended Kalman filter (EKF) is usually used either alone or in the Interacting Multiple Model (IMM) framework to solve nonlinear filtering problems. Since the GMTI measurement model is nonlinear, the use of an EKF ...

Recently, several researchers have studied a vector tracking loop, such as a vector delay lock loop (VDLL) and a vector frequency lock loop (VFLL), to obtain an improved tracking performance in GPS receiver [1~6]. The vector based tracking loop technique uses the correlation of each satellite signal and user dynamics. The receiver with the vector tracking loop can get enough total signal power ...

In this paper, we consider the problem of estimating wideband polynomial phase signals in sensor arrays. The estimation is based on the introduction of an exact but nonlinear state space modelization, of the signal, which compels us to use the extended Kalman filter (EKF). Furthermore, a solution to the problem of initialization of the filter is also proposed. Under this solution, the numerical...

The problem of nonlinear estimation is reexamined, and a new semi-parametric representation of uncertainty called the Biscay distribution is presented. The Biscay distribution is combined with the extended Kalman filter (EKF) and a new filtering paradigm called the Biscay distribution filter (BDF) is developed. The BDF is provably optimal for linear estimation and generalizes naturally to nonli...

Extended Kalman filter (EKF) has been widely used for attitude determination in various satellite missions. However, it 1 requires an extensive computational power which is not suitable for nano-satellite application. This paper proposes a gain-scheduled 2 EKF (GSEKF) to reduce the computational requirement in nano-satellite attitude determination process. The proposed GSEKF 3 eliminates the on...

The Extended Kalman Filter (EKF) has been the de facto approach to the Simultaneous Localization and Mapping (SLAM) problem for nearly fifteen years. However, the EKF has two serious deficiencies that prevent it from being applied to large, realword environments: quadratic complexity and sensitivity to failures in data association. FastSLAM, an alternative approach based on the Rao-Blackwellize...

The Extended Kalman Filter (EKF) can be used for parameter as well as for state estimation. However, when used for parameter estimation, EKF is sensitive to modeling uncertainties and prone to instability. In this paper, the Variable Structure filtering concept is introduced and used for modifying the EKF into a robust form. The proposed method is model-based and has a guaranteed stability give...

In this paper a fuzzy logic based intelligent Extended Kalman filter (EKF) is used for the estimation of speed, rotor position ,direct and quadrature axis current of permanent magnet synchronous motor thereby eliminating the problem of design and tuning of process covariance matrix in EKF algorithm. Unlike in the previous approaches the present work uses only the sensed line currents as measure...