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Adaptive CKF strong tracking filter and application
Pages: 111-120
Year: Issue:  11
Journal: Electric Machines and Control

Keyword:  strong tracking filtercubature kalman filteradaptabilitytarget tracking;
Abstract: For the problem that Strong tracking filter ( STF) has some theoretical limitations and the STF based on unscented transformation ( UTSTF) declines in accuracy and further diverges when solving the nonlinear filtering problem in high dimension, a cubature Kalman filter ( CKF) with strong tracking be-havior ( CKFSTF ) was proposed. CKFSTF combines advantages of STF and CKF: strong robustness, high accuracy, strong numerical stability, fast calculation speed, easy implementation and wide range of applications. Furthermore, adaptive CKFSTF was proposed when the prior noise statistic is unknown and time-varying, which using Sage-Husa noise statistic estimator based on CKFSTF. Validity of the new pro-posed algorithm was verified by the simulation examples.
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