Improved Kalman-Particle Kernel Filter on Lie Groups Applied to Angles-Only UAV Navigation
Clément Chahbazian,Karim Dahia,Nicolas Merlinge,Bénedicte Winter-Bonnet,Kévin Honore,Christian Musso,Clément Chahbazian,Karim Dahia,Nicolas Merlinge,Bénedicte Winter-Bonnet,Kévin Honore,Christian Musso
Kalman-Particle Kernel Filter (KPKF) is a sub-class of Particle Filter (PF) that uses Gaussian kernels as particles, which enables a local Kalman update for each measurement in addition to the usual weight update. Besides, recent research about filtering on Lie groups brought powerful theoretical results, and showed the superiority of this approach. Hence, this paper extends the Euclidean KPKF to ...
