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- W4363676476 abstract "In this study, Lie group theory was used for implementing the unscented Kalman filter (UKF). The UKF was used to track an unmanned surface vehicle (USV) by using radar measurements and the data recorded by the automatic identification system. The attitude of the USV was represented using unit quaternions constituting a Lie group called the 3-sphere space (S³). The increment and difference in the attitudes in S³ constitute a Lie algebra. The correspondence between the Lie group component and the Lie algebra component was used by the exponential and logarithm functions of the UKF. Simulation studies verify that the Lie group based UKF results in better convergence property in Kalman gain, measurement innovation, and covariance, as well as better tracking accuracy than the traditional UKF." @default.
- W4363676476 created "2023-04-11" @default.
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- W4363676476 date "2023-04-30" @default.
- W4363676476 modified "2023-09-24" @default.
- W4363676476 title "Vessel Location Tracking by Using Unscented Kalman Filter Implemented in Nonlinear Attitude Space" @default.
- W4363676476 doi "https://doi.org/10.5302/j.icros.2023.22.8007" @default.
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