ERUF

The ERUF class implements the extended recursive update filter.

Configuration

Configure the recurive update

Set the number of recursion steps that are performed by a measurement update with the setNumRecursionSteps() method.

Enable measurement gating

Enable measurement gating with the setMeasGatingThreshold() method.

Use a semi-analytic measurement update

Enable a semi-analytic measurement update if a measurement model does not require all state variables with the setStateDecompDim() method.

Enable post-processing of the predicted state estimate

Set a post-processing method for the state prediction with the setPredictionPostProcessing() method.

Enable post-processing of the updated state estimate

Set a post-processing method for the measurement update with the setUpdatePostProcessing() method.

Supported Models

System Models

Measurement Models

Literature

  • Renato Zanetti, “Recursive Update Filtering for Nonlinear Estimation,” IEEE Transactions on Automatic Control, vol. 57, no. 6, pp. 1481–1490, Jun. 2012.