Adaptive Extended Kalman Filter (ROSE-Filter) for Positioning System

2021/08/24 by Reiner Marchthaler, Marchthaler, Reiner
Computer Science · Engineering · #Target Tracking and Data Fusion in Sensor Networks #Inertial Sensor and Navigation

paper · pdf · doi:10.48550/arxiv.2108.11321

Abstract

This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is used, a so called ROSE-Filter (Rapid Ongoing Stochastic covariance Estimation-Filter). Input of the system is the measured position from a two dimensional position system. Estimated is the pose (position and orientation) and the velocity of the vehicle.

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