Fault-Tolerant Particle Filtering by Using Interacting Multiple Model-Based Rao-Blackwellization

2005 ◽  
Vol 28 (6) ◽  
pp. 1171-1177 ◽  
Author(s):  
Ilia Rapoport ◽  
Yaakov Oshman
Keyword(s):  
Particle Filtering ◽  
Fault Tolerant ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Model Based

An Interacting Multiple-Model-Based Algorithm for Driver Behavior Characterization Using Handling Risk

2019 ◽  
Vol 20 (12) ◽  
pp. 4308-4317 ◽  
Author(s):  
Sanghyun Hong ◽  
Jianbo Lu ◽  
Smruti R. Panigrahi ◽  
Jonathan Scott ◽  
Dimitar P. Filev
Keyword(s):  
Driver Behavior ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Model Based

IMM-UKF-TFS Model-based Approach for Intelligent Navigation

2013 ◽  
Vol 66 (6) ◽  
pp. 859-877 ◽  
Author(s):  
M. Malleswaran ◽  
V. Vaidehi ◽  
S. Irwin ◽  
B. Robin
Keyword(s):  
Kalman Filter ◽  
Constant Velocity ◽  
Unscented Kalman Filter ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
State Variables ◽  
Constant Acceleration ◽  
Positional Accuracy ◽  
Model Based ◽  
Novel Approach

This paper aims to introduce a novel approach named IMM-UKF-TFS (Interacting Multiple Model-Unscented Kalman Filter-Two Filter Smoother) to attain positional accuracy in the intelligent navigation of a manoeuvring vehicle. Here, the navigation filter is designed with an Unscented Kalman Filter (UKF), together with an Interacting Multiple Model algorithm (IMM), which estimates the state variables and handles the noise uncertainty of the manoeuvring vehicle. A model-based estimator named Two Filter Smoothing (TFS) is implemented along with the UKF-based IMM to improve positional accuracy. The performance of the proposed IMM-UKF-TFS method is verified by modelling the vehicle motion into Constant Velocity-Coordinated Turn (CV-CT), Constant Velocity – Constant Acceleration (CV-CA) and Constant Acceleration-Coordinated Turn (CA-CT) models. The simulation results proved that the proposed IMM-UKF-TFS gives better positional accuracy than the existing conventional estimators such as UKF and IMM-UKF.

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