A bearing-only localization solved by an unscented rauch-tung-striebel smoothing

Saifudin Razali, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The unscented Kalman filter (UKF) has become an alternative in nonlinear estimation problems to overcome the limitation of Taylor series linearization used by the extended Kalman filter (EKF). It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed in many literature. However, a nonlinear smoothing problem has received less attention than the filtering problem. Therefore, in this article we examine an unscented smoother based on Rauch-Tung-Striebel form for discrete-time dynamic systems. This smoother has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. This smoothing technique has been implemented and evaluated through a bearing-only localization problem.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages399-402
Number of pages4
Publication statusPublished - Dec 1 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Publication series

NameProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

Keywords

  • Bearing-only localization problem
  • Rauch-tung-striebel smoother
  • Unscented transformation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Fingerprint Dive into the research topics of 'A bearing-only localization solved by an unscented rauch-tung-striebel smoothing'. Together they form a unique fingerprint.

  • Cite this

    Razali, S., Watanabe, K., & Maeyama, S. (2011). A bearing-only localization solved by an unscented rauch-tung-striebel smoothing. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 399-402). (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).