Adaptive Tuning of the Unscented Kalman Filter using Particle Swarm Optimization for Inertial-GPS Sensor Fusion Systems

Psyche T. Malabo, Bobby D. Gerardo

Accurate vehicle positioning requires effective IMU-GPS fusion, yet prior methods-EKF, UKF, ML, GA, and DE-suffer from nonlinearity, instability, or high computational cost. This s…