Trainable Quaternion Extended Kalman Filter with Multi-Head Attention for Dead Reckoning in Autonomous Ground Vehicles

Extended Kalman filter (EKF) is one of the most widely used Bayesian estimation methods in the optimal control area. Recent works on mobile robot control and transportation systems have applied various EKF methods, especially for localization. However, it is difficult to obtain adequate and reliable...

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出版年:	Sensors
主要な著者:	Gary Milam, Baijun Xie, Runnan Liu, Xiaoheng Zhu, Juyoun Park, Gonwoo Kim, Chung Hyuk Park
フォーマット:	論文
言語:	英語
出版事項:	MDPI AG 2022-10-01
主題:	localization inertial navigation system extended Kalman filter mobile robot autonomous ground vehicle
オンライン･アクセス:	https://www.mdpi.com/1424-8220/22/20/7701