A new sigma-point EKF hybrid nonlinear Kalman filter reduces UKF computation cost by about 50% and achieves higher accuracy than EKF via third-order Taylor series propagation of mean and covariance.
Computational complexity
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A New computation reduction based nonlinear Kalman filter
A new sigma-point EKF hybrid nonlinear Kalman filter reduces UKF computation cost by about 50% and achieves higher accuracy than EKF via third-order Taylor series propagation of mean and covariance.