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2002•Unpublished venueRequires access

Modified extended Kalman filtering

Derek S. Wall, F.M.F. Gaston

Open publisher page 6 citations

Abstract

This paper examines a previously published modified extended Kalman (1960) filter. The modification provides better estimates than the extended Kalman filter under certain system conditions. The modification attempts to formulate a more accurate linearization of the underlying system, hence improve the state estimates. This paper investigates conditions where the algorithm outperforms the extended Kalman filter. The paper also suggests an additional modification which further improves the performance.

About this research paper

What this paper is about

This paper examines a previously published modified extended Kalman (1960) filter. The modification provides better estimates than the extended Kalman filter under certain system conditions. The modification attempts to formulate a more accurate linearization of the underlying system, hence improve the state estimates. This paper investigates conditions where the algorithm outperforms the extended Kalman filter. The paper also suggests an additional modification which further improves the performance.

Why it matters

OpenAlex reports 6 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

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Method / approach

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Main findings

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Available abstract

This paper examines a previously published modified extended Kalman (1960) filter. The modification provides better estimates than the extended Kalman filter under certain system conditions. The modification attempts to formulate a more accurate linearization of the underlying system, hence improve the state estimates. This paper investigates conditions where the algorithm outperforms the extended Kalman filter. The paper also suggests an additional modification which further improves the performance.

Key concepts: Kalman filter, Fast Kalman filter, Invariant extended Kalman filter, Alpha beta filter, Linearization, Extended Kalman filter, Moving horizon estimation, Control theory (sociology)

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