Istvan Kecskes

Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals

This paper proposes a novel extended Kalman filter (EKF) along with its adaptive variant for effective magnetic, angular rate and gravity (MARG) sensor-only pose estimation of mobile robots operated longer periods in reference-denied environments. First, a gradient-descent orientation-based EKF fram…