Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

Sensors (Basel) · 2016 · PMC5017333 · PMID 27472336

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In addition, they are fundamentally different in sampling point set: for the sigma-point set, the stem at the center is highly significant as it carries more weight, whereas the cubature point set does not have a stem at the center and thus does not have the numerical instability problem of UKF.

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