Alexandre C. Horn

A Comparative Study on Sigma-Point Kalman Filters for Trajectory Estimation of Hybrid Aerial-Aquatic Vehicles

In this paper, a study on nonlinear state estimation methods for Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) is presented. Based on a detailed dynamic model simulation, we analyse and elect the best nonlinear algorithm among those presented in the state-of-the-art literature addressing local…