• Corpus ID: 13882996

Sigma-Point Kalman Filters for Integrated Navigation

@inproceedings{vanderMerwe2004SigmaPointKF,
  title={Sigma-Point Kalman Filters for Integrated Navigation},
  author={Rudolph van der Merwe and Eric A. Wan},
  year={2004}
}
Core to integrated navigation systems is the concept of fusing noisy observations from GPS, Inertial Measurement Units (IMU), and other available sensors. The current industry standard and most widely used algorithm for this purpose is the extended Kalman filter (EKF) [6]. The EKF combines the sensor measurements with predictions coming from a model of vehicle motion (either dynamic or kinematic), in order to generate an estimate of the current navigational state (position, velocity, and… 

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