NDLI: Unscented particle filter using scaled spherical simplex UKF

Content Provider	IEEE Xplore Digital Library
Author	Peng Tang Guangqiong Zhao Shaogang Chen Zhongliang Tang Wei He
Copyright Year	2015
Description	Author affiliation: Sch. of Comput. Sci. & Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China (Peng Tang; Zhongliang Tang) \|\| Center for Robot., Univ. of Electron. Sci. & Technol. of China, Chengdu, China (Wei He) \|\| Sch. of Math. Sci., Univ. of Electron. Sci. & Technol. of China, Chengdu, China (Guangqiong Zhao; Shaogang Chen)
Abstract	In order to reduce the computation burden of conventional unscented particle filter, a method for particle filter based on spherical simplex unscented transformation (SSUT) is proposed. This method uses spherical simplex unscented Kalman filter to generate importance distribution of particle filter. It can extend its overlaps and posterior probability density, and reduce the computation burden by reducing sigma points. However, the sigma point set coverage radius expends over dimension of state space, which results in the deterioration of the aggregation of sigma points. Auxiliary random variable formulation of the scaled transformation can overcome the defect of sigma point set distribution expansion. So the scaled spherical simplex unscented particle filter (SSSUPF) is introduced. The simulation results show that compared with conventional unscented particle filter (UPF), the computation complexity of SSSUPF can be reduced by 50 percent, and compared with spherical simplex unscented particle filter (SSUPF), SSSUPF reduces the system noise and the measurement noise variance estimation error.
Starting Page	5265
Ending Page	5270
File Size	214408
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260461
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Accuracy Nonlinear non-Gaussian Simulation Noise Scaled transformation Random variables Electronic mail Spherical simplex unscented transformation Kalman filters Mathematical model Particle filter
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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