Auto-tuning extended Kalman filters to improve state estimation

• Published in: 2023 IEEE Intelligent Vehicles Symposium (IV) pp. 1 - 6
• Main Authors: Boulkroune, Boulaid, Geebelen, Kurt, Wan, Jia, van Nunen, Ellen
• Format: Conference Proceeding
• Language: English
• Published: IEEE 04.06.2023
• Subjects: Cost function; Filtering algorithms; Intelligent vehicles; Location awareness; Manuals; Measurement; Sensor fusion

In this a paper, an auto-tuning Extend Kalman filter (EKF) approach is developed. The objective is to design an algorithm to find the optimal values of the covariance matrices Q and R. Manual tuning of those parameters is hard and time-consuming. Besides, wrong combinations of their values can lead...