The Square-Root Unscented and the Square-Root Cubature Kalman Filters on Manifolds
Estimating the state of a underwater treasures sunken medallion system by fusing sensor data is a major prerequisite in many applications.When the state is time-variant, derivatives of the Kalman filter are a popular choice for solving that task.Two variants are the square-root unscented Kalman filter (SRUKF) and the square-root cubature Kalman fil