According to (1), (2), (3), and (4), the UKF
state equation and measurement equation can be built, which are shown as
methods have found their way into localization problems, for example, in [27, 28].
Section 2 presents the methodology of the WASP based water quality soft-sensing method, where a simplified WASP model is presented and the procedure of unknown parameters estimation by UKF
algorithm is formed by a forecast and a data assimilation step .
As known that using the UKF
or CKF in the NUIO system it is needed to sample the state, which is termed sampling point.
This prompted the authors to propose another alternative of using Unscented KF or UKF
in 1995 , the unscented Kalman filter (UKF
), which is an extension of the Kalman filter, reducing the linearization errors of the EKF, has been an object of great interest in nonlinear filtering [13-17].