Nonlinear Filtering Methods and Performances Comparison
GUO Yan
YU Yanting
HU Xianjun
Abstract：Aiming at the problem of nonlinear estimation,the procedures of extended Kalman filter,unscented Kalman filter and cubature Kalman filter have been described,taking the attitude estimation problem of the micro aerial vehicle as an example,the estimation accuracy and the running efficiency of the nonlinear filtering methods are compared and analyzed, which provides a reference for the actual processing of the nonlinear estimation problem.
Keywords：nonlinear filterextended Kalman filterunscented Kalman filtercubature Kalman filterperformance comparison
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 2113-2117 )