Bénedicte Winter-Bonnet

Improved Kalman-Particle Kernel Filter on Lie Groups Applied to Angles-Only UAV Navigation

Kalman-Particle Kernel Filter (KPKF) is a sub-class of Particle Filter (PF) that uses Gaussian kernels as particles, which enables a local Kalman update for each measurement in addition to the usual weight update. Besides, recent research about filtering on Lie groups brought powerful theoretical re…