Towards a Model Based Sensor Measurement Variance Input for Extended Kalman Filter State Estimation

Towards a Model Based Sensor Measurement Variance Input for Extended Kalman Filter State Estimation

In this paper, we present an alternate method for the generation and implementation of the sensor measurement variance used in an Extended Kalman Filter (EKF). Furthermore, it demonstrates the limitations of a conventional EKF implementation and postulates an alternate form for representing the sens...

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Bibliographic Details
Main Authors: Harry A. G. Pointon, Benjamin J. McLoughlin, Christian Matthews, Frederic A. Bezombes
Format: Article
Language:English
Published: MDPI AG 2019-02-01
Series:Drones
Subjects:
extended Kalman filter
robotic total station
unmanned ground vehicle
state estimation
ultra wide band
Online Access:https://www.mdpi.com/2504-446X/3/1/19

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