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Unscented Kalman Observer

Abstract : In this paper we propose a modification of the Unscented Kalman filter (UKF) study as a nonlinear observer. The extended Kalman filter (EKF) is an exponential observer under a condition that it is written in a canonical form of observability and in its high-gain form. It is shown that unlike EKF, UKF is not an exponentially converging observer. Finally, the performances of this observers are illustrated on an example of geolocation of a boat.
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https://hal.archives-ouvertes.fr/hal-02286201
Contributor : Eric Busvelle <>
Submitted on : Friday, September 13, 2019 - 3:07:46 PM
Last modification on : Wednesday, July 8, 2020 - 3:03:08 AM
Long-term archiving on: : Saturday, February 8, 2020 - 7:17:13 PM

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  • HAL Id : hal-02286201, version 1

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Assia Daid, Eric Busvelle, Mohamed Aidene. Unscented Kalman Observer. 8th International Conference on Systems and Control, Oct 2019, Marrakesh, Morocco. ⟨hal-02286201⟩

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