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Keywords: RTS smoother
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Journal Articles
Journal:
Sensor Review
Sensor Review (2015) 35 (4): 389–400.
Published: 21 September 2015
... system. Design/methodology/approach – The smoothing ZUPT is based on a Rauch–Tung–Striebel (RTS) smoother, using a six-state Kalman filter (KF) as the forward filter. The KF acts as an indirect filter, which allows the sensor measurement error and position error to be excluded from the error state...
