The spherical simplex unscented transformation

By Simon Justin Julier. Proceedings of the 2003 American Control Conference, 2003., 2003

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Sparse Gauss-Hermite Quadrature Filter with Application to Spacecraft Attitude Estimation (2011, background): “The different sigma-point-set selection strategies include the symmetric points [6], the minimal-skew simplex points [23], the spherical simplex points [24,25], the Schmidt orthogonalizationbased simplex set [26], and thosewithmore than 2n 1 sigmapoints for accuracy enhancement [27–29], where n is t”
Unscented filtering and nonlinear estimation (2004, background): “Recently, we have investigated another set that places all of the sigma points at the same distance from the origin [50].”
SMOOTH VARIABLE STRUCTURE FILTERING: THEORY AND APPLICATIONS (2011, background): “mber of weighted sample points (selected ,71], general unscented [34,83].”
A Numerical-Integration Perspective on Gaussian Filters (2006, methodology): “The UKF using a set of simplex sigma points [41], [42], [21, App.”