A New Adaptive High-Degree Unscented Kalman Filter with Unknown Process Noise

Abstract

Vehicle state, including location and motion information, plays an essential role on the Internet of Vehicles (IoV). Accurately obtaining the system state information is the premise of realizing precise control. However, the statistics of system process noise are often unknown due to the complex physical process. It is challenging to estimate the system state when the process noise statistics are unknown. This paper proposes a new adaptive high-degree unscented Kalman filter based on the improved Sage–Husa algorithm. First, the traditional Sage–Husa algorithm is improved using a high-degree unscented transform. A noise estimator suitable for the high-degree unscented Kalman filter is obtained to estimate the statistics of the unknown process noise. Then, an adaptive high-degree unscented Kalman filter is designed to improve the accuracy and stability of the state estimation system. Finally, the target tracking simulation results verify the proposed algorithm’s effectiveness.