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1-3 of 3
Keywords: Kalman filtering
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Journal Articles
Accepted Manuscript
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control.
Paper No: ALDSC-24-1052
Published Online: January 13, 2025
.... If this constraint is not enforced properly, it can lead to significant errors in orientation estimation. This paper proposes an unscented Kalman filter that ensures the quaternion parameters, a subvector within the state vector, adhere to the unit norm constraint. The proposed method provides a closed-form solution...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2023, 3(1): 011005.
Paper No: ALDSC-22-1033
Published Online: March 16, 2023
... compatible sensors, which introduce their own set of challenges: noisy measurements and drift due to sensor bias. To mitigate this, we designed the Kinematically Constrained Kalman filter for sensor fusion of gyroscopes and Hall effect sensors, with the goal of estimating the human’s torso and robot joint...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2021, 1(3): 031013.
Paper No: ALDSC-20-1059
Published Online: March 5, 2021
..., a dual extended Kalman filter (DEKF) is applied to detect cyber-attacks as an unknown constant on vehicle tracking information with noise rejections. To handle the coupling effects between tracking errors and cyber-attacks, the proposed DEKF consists of a tracking error filter (TEF) and a cyber-attack...