IEEE - Institute of Electrical and Electronics Engineers, Inc. - A new method for the nonlinear transformation of means and covariances in filters and estimators

Author(s): S. Julier ; J. Uhlmann ; H.F. Durrant-Whyte
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 March 2000
Volume: 45
Page Count: 6
Page(s): 477 - 482
ISSN (Paper): 0018-9286
ISSN (Online): 1558-2523
DOI: 10.1109/9.847726
Regular:

This paper describes a new approach for generalizing the Kalman filter to nonlinear systems. A set of samples are used to parametrize the mean and covariance of a (not necessarily Gaussian)... View More

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