About: On Sigma-Point Set Rotation in Derivative-Free Filters

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Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6916071
Description	The paper deals with an analysis and illustration of the impact of the sigma-point set rotation on the accuracy of the derivative-free approximation techniques and on the performance of filters utilizing these approximations. Namely, approximations based on the unscented transform and the Stirling interpolation are considered. It is shown that the covariance matrix factor used in the sigma-point set computation can be multiplied by an arbitrary rotation matrix which rotates the sigma-points along the surface of a hyper-ellipsoid defined by the covariance matrix. The rotation matrix can be thus considered as another user-defined parameter (in addition to the scaling parameter) greatly affecting the filter performance and therefore it needs to be carefully chosen. Choice of the appropriate sigma-point set rotation is discussed and its impact on the filter performance is illustrated using a bearing-only tracking example. The paper deals with an analysis and illustration of the impact of the sigma-point set rotation on the accuracy of the derivative-free approximation techniques and on the performance of filters utilizing these approximations. Namely, approximations based on the unscented transform and the Stirling interpolation are considered. It is shown that the covariance matrix factor used in the sigma-point set computation can be multiplied by an arbitrary rotation matrix which rotates the sigma-points along the surface of a hyper-ellipsoid defined by the covariance matrix. The rotation matrix can be thus considered as another user-defined parameter (in addition to the scaling parameter) greatly affecting the filter performance and therefore it needs to be carefully chosen. Choice of the appropriate sigma-point set rotation is discussed and its impact on the filter performance is illustrated using a bearing-only tracking example. (en)
Title	On Sigma-Point Set Rotation in Derivative-Free Filters On Sigma-Point Set Rotation in Derivative-Free Filters (en)
skos:prefLabel	On Sigma-Point Set Rotation in Derivative-Free Filters On Sigma-Point Set Rotation in Derivative-Free Filters (en)
skos:notation	RIV/49777513:23520/14:43922883!RIV15-MSM-23520___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(EE2.3.30.0013), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Šimandl, Miroslav Straka, Ondřej Duník, Jindřich
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Západočeská univerzita v Plzni / Fakulta aplikovaných věd
http://linked.open...dnocenehoVysledku	34372
http://linked.open...ai/riv/idVysledku	RIV/49777513:23520/14:43922883
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Kalman filtering; Nonlinear filters; Estimation theory; State estimation (en)
http://linked.open.../riv/klicoveSlovo	Kalman filtering Nonlinear filters State estimation Estimation theory
http://linked.open...ontrolniKodProRIV	[39AC266373E1]
http://linked.open...v/mistoKonaniAkce	Salamanca, Spain
http://linked.open...i/riv/mistoVydani	Salamanca
http://linked.open...i/riv/nazevZdroje	Proceedings of the 17th International Conference on Information Fusion
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Excellence in human resources as a source of competitiveness
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Straka, Ondřej Šimandl, Miroslav Duník, Jindřich
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-07-07 (xsd:date)
number of pages	8 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-84-9012-355-3
http://localhost/t...ganizacniJednotka	23520

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