000000486 001__ 486
000000486 005__ 20260224160512.0
000000486 0247_ $$2DOI$$a10.6083/M42J68T9
000000486 037__ $$aETD
000000486 245__ $$aSigma-point Kalman smoothing: algorithms and analysis with applications to indoor tracking
000000486 269__ $$a2010
000000486 336__ $$aDissertation
000000486 502__ $$bPh.D.
000000486 520__ $$aThe sigma‑point Kalman filter (SPKF) offers improved accuracy over the extended Kalman filter for nonlinear state estimation, yet nonlinear smoothing methods based on sigma‑point techniques remain limited. This work introduces new fixed‑interval and fixed‑lag sigma‑point Kalman smoothers (SPKS) using forward‑backward and Rauch‑Tung‑Striebel frameworks. To enable backward propagation, we use weighted statistical linear regression to generate pseudo‑linearized dynamics compatible with the SPKF. The proposed smoothers are evaluated in applications such as indoor localization and multiharmonic frequency tracking, showing strong performance. We also extend the theoretical foundations of the SPKF by deriving mean‑square error lower bounds and stability‑based upper bounds, and verify these results experimentally.
000000486 540__ $$fCC BY
000000486 542__ $$fIn copyright - single owner
000000486 650__ $$aAlgorithms$$014437
000000486 6531_ $$anumerical analysis
000000486 6531_ $$akalman filtering
000000486 6531_ $$aindoor tracking
000000486 6531_ $$asigma-point kalman smoother
000000486 691__ $$aSchool of Medicine$$041369
000000486 692__ $$aDepartment of Biomedical Engineering$$041397
000000486 7001_ $$aPaul, Anindya$$uOregon Health and Science University$$041354
000000486 7201_ $$aWan, Eric$$uOregon Health and Science University$$041354$$7Personal$$eAdvisor
000000486 8564_ $$9b87c329f-1e97-4e32-8ef3-49297ab64c5a$$s11457766$$uhttps://digitalcollections.ohsu.edu/record/486/files/487_etd.pdf$$ePublic$$2aee32beff9a4394cf4cb64a0e40084cb$$31
000000486 905__ $$a/rest/prod/89/10/jt/59/8910jt59d
000000486 909CO $$ooai:digitalcollections.ohsu.edu:486$$pstudent-work
000000486 956__ $$aGet Accessible Copy$$uhttps://ohsu.libwizard.com/f/requestaccessibledocument
000000486 980__ $$aTheses and Dissertations