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Performance evaluation of UKF-based nonlinear filtering. (English) Zbl 1103.93045
Summary: The performance of the modified unscented Kalman filter (UKF) for nonlinear stochastic discrete-time system with linear measurement equation is investigated. It is proved that under certain conditions, the estimation error of the UKF remains bounded. Furthermore, it is shown that the design of noise covariance matrix plays an important role in improving the stability of the algorithm. Error behavior of the UKF is then derived in terms of mean square error (MSE), and the Cramér-Rao lower bound (CRLB) is introduced as a performance measure. The modified UKF is found to approach the CRLB if the difference between the real noise covariance matrix and the selected one is small enough. These results are verified by using Monte Carlo simulations on two example systems.

93E11 Filtering in stochastic control theory
93E15 Stochastic stability in control theory
93C55 Discrete-time control/observation systems
Full Text: DOI
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