A novel simplex unscented transform and filter

Abstract

In this paper, we propose a new simplex unscented transform, and a new filter - Modify Unscented Kalman Filter (MUKF) based on this transform. It has less compute consumption than UKF, SUKF [1] and EKF[2]; Computer simulation show that this filter has the same performance as UKF and SUKF; and we analysis the computational requirements of EKF, UKF and SUKF in detail, so this filter has preferable practicality value. © 2007 IEEE.