Two Modified Unscented Kalman Filter and Acceleration Information in Unmanned Surface Vehicle Estimation

@inproceedings{Ma2016TwoMU,
  title={Two Modified Unscented Kalman Filter and Acceleration Information in Unmanned Surface Vehicle Estimation},
  author={Yu-long Ma},
  year={2016}
}
The stability problem is one of the existing problems of unscented Kalman filter (UKF), which due to the nonlinearity and complexity of system. The precision will be decreased or even UKF will be halted when the algorithm can’t ensure the state covariance to be positive semidefinite. Based on decomposition of state covariance, the paper first reviews two… CONTINUE READING