Three-Axes Mems Calibration Using Kalman Filter and Delaunay Triangulation Algorithm

Table 1

The outline of transformed unscented Kalman filter.

(1) Initializing
Variables pertaining to the state and the square root (sr) of the error covariance matrix
Points for Sigma
(2) Prediction (time update)
TUKF cubature points after transformation
Sample propagation points
State prediction
SR-error covariance matrix prediction
(3) Measurement update
TUKF predicted converted cubature points
Sample propagation points
Predicting measurement
Update of Sr-innovation covariance matrix
Update of cross-covariance matrix
Updating the Kalman gain
Updating the states
Update Sr-error covariance matrix