A Gaussian-sum based cubature Kalman filter for bearings-only tracking

Pei Leong (ANU)

APPLIED SIGNAL PROCESSING SERIES

DATE: 2012-05-17
TIME: 11:00:00 - 12:00:00
LOCATION: RSISE Seminar Room, ground floor, building 115, cnr. North and Daley Roads, ANU
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ABSTRACT:
This seminar presents an efficient nonlinear filtering algorithm called the Gaussian-sum cubature Kalman filter for the bearings-only tracking problem. It is developed based on the recently proposed cubature Kalman filter and is built within a Gaussian-sum framework. The new algorithm consists of a splitting and merging procedure when a high degree of nonlinearity is detected. Simulation results show that the proposed algorithm demonstrates comparable performance to the particle filter with significantly reduced computational cost.
BIO:
Pei Leong is a PhD student in the ASP group.