Filter--EKF,UKF,PF

EKF,UKF,PF algorithm :Matlab version

PF: C version

Simulation scheme in Matlab/Simulink

Simulation Result

Background: A vehicle(IMU and camera are mounted) is moving along a circle trajectory. the purpose is estimating the target position and vehicle's position simultaneouly.the red star is the feature point, the black line is the vehicle's trajectory. The experiment can demonstrate the PF(Particle Filter) can provide accurate target position and vehicle's position although the sensor only provide the unlimited bias data and UKF(Unscented Kalman Filter) is invalid.

In the figure, the 40seconds PF simulation is finished in 563 second,which shows the C program can not be utilized in real time estimation. It is the next step task.

And the other tasks include analyzing the problem in simulation and its stochastic character.

Detailed description:please refer to my paper "Oceans08" at http://sites.google.com/site/qiangliresearch/qiang-li-s-homepage/Home