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The first step relies on a previously developed algorithm  (QKF).
Moreover, the centralized controller comprises the QKF estimator which fuses the observations, and it is based on a previously derived technique.
Many fusion algorithms have been developed, such as EKF , reduced vector observation model multiplicative extended Kalman filter (RMEKF) , quaternion Kalman filter (QKF) , unscented Kalman filter (UKF) , and particle filter (PF) .
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