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Title: Nonlinear Estimation Using Cubature Quadrature Points
Authors: Swati
Bhaumik, S.
Keywords: Kalman Filter
Gauss Laguerre Quadrature Rule
Nonlinear Estimation
Issue Date: Feb-2012
Publisher: IEEE Xplore
Abstract: In this paper, a novel method based on spherical radial cubature and Gauss Laguerre quadrature rule has been proposed for nonlinear state estimation problem. The proposed method is named as cubature quadrature Kalman filter (CQKF). The performance of CQKF is demonstrated with a severely nonlinear single dimensional problem. Preliminary result suggests that the proposed filter has potential to outperform conventional extended Kalman filter (EKF) and more advanced cubature Kalman filter (CKF). Due to computational efficiency and enhanced accuracy compared to standard nonlinear estimators, the projected algorithm may find place in on-board real life applications.
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