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Position estimation using Unscented Kalman Filter

Konatowski S., Sipa T.

Annual of Navigation

2004

No. 8

97-110

Position estimation in integrated navigation systems often calls for operations on nonlinear system models. Dynamics nonlinearity of an object, which position we want to estimate requires using special filters. The Extended Kalman Filter based on linearization of nonlinear functions is generally accepted solution. The paper presents the Unscented Kalman Filter based on Unscented Transform. Filter performance with comparison to extended Kalman filter is discussed on the theoretical base and simulation results showing accuracy increase are presented.