Distributed Unscented Kalman Filter for Nonlinear System Estimation

Sebum Chun, Eunsung Lee, Teasam Kang, Young Jae Lee, Gyu-In Jee and Jeongrae Kim

Abstract:	Unscented Kalman filter has better performance than a generic Kalman filter if a target system model is nonlinear. But its decentralized form for fault adaptation is not known. In this paper, we develop a federated unscented Kalman filter which mathematically equivalent with centralized unscented Kalman filter, and verify that it is equivalent to original centralized unscented Kalman filter.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	1411 - 1416
Cite this article:	Chun, Sebum, Lee, Eunsung, Kang, Teasam, Lee, Young Jae, Jee, Gyu-In, Kim, Jeongrae, "Distributed Unscented Kalman Filter for Nonlinear System Estimation," Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 1411-1416.
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