Under high dynamic situation, the typical GPS carrier tracking loop cannot guarantee a reliable tracking. In this paper an improved high dynamic carrier tracking method based on unscented Kalman filter is presented, a rapid frequency traction method is adopted to ensure that the filter can convergence quickly, and joining a carrier amplitude estimation method. The U.S Jet Propulsion Laboratory ...

This paper describes how a constrained nonlinear least-squares optimization approach can be used to recover the configuration of the segments in an arbitrary mechanical system from motion capture data. By appending the difference between markers in the model and the measured marker trajectories to the set of kinematic constraint equations, a set of over-determinate nonlinear equations will be o...

The Kalman filters have been widely used for mobile robot navigation and system integration. So that it may operate autonomously, a mobile robot must know where it is. Accurate localization is a key prerequisite for successful navigation in large-scale environments, particularly when global models are used, such as maps, drawings, topological descriptions, and CAD models. This paper presents th...

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Visual contour tracking in complex background is a difficult task. The measurement model is often nonlinear due to clutter in images. Traditional visual tracker based on Kalman filter employs simple linear measurement model, and often collapses in tracking process. The paper presents a new contour tracker based on Unscented Kalman filter that is superior to extended Kalman filter both in theory...

A new unscented Kalman filter controlled variablestructureinteracting multiple model technique is developed in this paper. The model set of this multiple model algorithm is built by different coordinated turn models. The corresponding turn rates and the state estimation process are realized by unscented Kalman filtering and ensures significant self-adjusting capabilities. The algorithm is disti...

In a series of recent studies a new approach for applying the Kalman filter to nonlinear system, referred to as Unscented Kalman filter (UKF), was proposed. In this contribution we apply the UKF to several speech processing problems, in which a model with unknown parameters is given to the measured signals. We show that the nonlinearity arises naturally in these problems. Preliminary simulation...

Target tracking is very important field of research as it has wider applications in defense as well as civilian applications. Kalman filter is generally used for such applications. When the process and measurements are non linear extensions of Kalman filters like Extended Kalman Filter, Unscented Kalman Filters are widely used. UKF can give estimations up to second order characteristics of rand...