Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals
Akos Odry,Istvan Kecskes,Dominik Csik,Hashim A. Hashim,Peter Sarcevic,Akos Odry,Istvan Kecskes,Dominik Csik,Hashim A. Hashim,Peter Sarcevic
This paper proposes a novel extended Kalman filter (EKF) along with its adaptive variant for effective magnetic, angular rate and gravity (MARG) sensor-only pose estimation of mobile robots operated longer periods in reference-denied environments. First, a gradient-descent orientation-based EKF framework is derived, which formulates the MARG-based pose propagation with both bandpass-filtered and b...
