These efficient alternatives include the unscented transformation [11], the divided-difference numerical integration [12-14], and the
cubature quadrature integration [15].
A strong tracking
cubature Kalman filter (CKF) [41] that outperformed the EKF was proposed to track the sudden change of SOC value accurately.
Lots of researches concentrate on the numerical approximation methods to solve the Gaussian weighted integral problem, and different approaches result in different local Gaussian filters, such as the
cubature Kalman filter [10], the quadrature Kalman filter [11], and related variants [12-14].
Cubature Kalman filter (CKF) proposed by Arasaratnam and Haykin [10,11] decomposes the intractable integral into spherical integral and radial integral, which are approximated by the third-order
cubature rule.
In 2009, Arasaratnam and Haykin proposed a
cubature Kalman filter (CKF) that uses radial quadrature rules for optimization sigma points and weights, enhancing the ability to handle high dimensional nonlinear state estimated accuracy and improving stability.
Looking in turn at novel advances in algorithm design and applications, they consider such topics as elements of random set information fusion, distributed detection and data fusion with heterogeneous sensors, a nonlinear information fusion algorithm for an asynchronous multisensor based on the
Cubature Kalman filter, accumulated state densities and their applications in object tracking, a granular sensor-fusion method for regenerative life support systems, feature and data fusion with medical images, and data fusion in intelligent traffic and transportation engineering.
Writing for graduate students and researchers with experience in functional analysis and numerical methods, the authors describe applications for new procedures of approximation, most of which include approximate quasi-interpolation, interpolation, least square approximation,
cubature of integral operations and wavelet approximations.
The areas in which such a connection appears include orthogonal polynomials, approximation,
cubature formulas and polynomial interpolation.
Additional Key Words and Phrases: Automatic integration,
cubature,
cubature rules, error estimation, null rules, symmetry, triangular regions
The estimation of real-time vehicle states is achieved using a
Cubature Kalman Filter-(CKF-) based algorithm.