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- W3046101511 abstract "We consider a nonlinear estimation problem where a unicycle vehicle moves with unknown disturbances generated from linear time-invariant systems. The vehicle measures its position to estimate its state and disturbance information simultaneously. We show that this system is invariant under the action of a Lie group and design an Invariant Extended Kalman Filter (IEKF). We propose a first-order approximation of the noise covariance in the invariant frame. Through Monte-Carlo simulations, we demonstrate that the first-order approximation improves the performance of the IEKF and that the IEKF yields superior transient performance over the standard EKF." @default.
- W3046101511 created "2020-08-03" @default.
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- W3046101511 date "2020-07-01" @default.
- W3046101511 modified "2023-10-17" @default.
- W3046101511 title "Invariant-EKF Design for a Unicycle Robot under Linear Disturbances" @default.
- W3046101511 doi "https://doi.org/10.23919/acc45564.2020.9147383" @default.
- W3046101511 hasPublicationYear "2020" @default.
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