A New Evaluation Platform for Navigation Systems

Authors:	Sejerøe Thomas Hanefeld, Techn. Univ. of Denmark, Denmark Poulsen Niels Kjølstad, Techn. Univ. of Denmark, Denmark Ravn Ole, Techn. Univ. of Denmark, Denmark
Topic:	7.5 Intelligent Autonomous Vehicles
Session:	Vehicle Motion Planning
Keywords:	State estimation, Kalman filtering, nonlinear systems, autonomous robots

Abstract

The KALMTOOL 2 toolbox is a set of MATLAB tools for state estimation for nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for two new filters called the DD1 filter and the DD2 filter. It also contains function for Uncented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB ver. 6, but no additional toolboxes are required.