TY - GEN
T1 - An unscented Rauch-Tung-Striebel smoother for a bearing only tracking problem
AU - Razali, Saifudin
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
AU - Izumi, Kiyotaka
PY - 2010/12/1
Y1 - 2010/12/1
N2 - The unscented Kalman filter (UKF) has become a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. 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. To evaluate the performance of this smoother, we compare this algorithm with an extended Rauch-Tung-Striebel algorithm through the simulations of a bearing-only tracking problem.
AB - The unscented Kalman filter (UKF) has become a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. 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. To evaluate the performance of this smoother, we compare this algorithm with an extended Rauch-Tung-Striebel algorithm through the simulations of a bearing-only tracking problem.
KW - Bearing-only tracking problem
KW - Rauch-Tung-Striebel smoother
KW - Unscented transformation
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M3 - Conference contribution
AN - SCOPUS:78751489547
SN - 9781424474530
T3 - ICCAS 2010 - International Conference on Control, Automation and Systems
SP - 1281
EP - 1286
BT - ICCAS 2010 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2010
Y2 - 27 October 2010 through 30 October 2010
ER -