A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road

In this paper, a comprehensive comparison is made of the following sigma-point Kalman filters: unscented Kalman filter (UKF), cubature Kalman filter (CKF), and the central difference Kalman filter (CDKF). A simulation based on a complex maneuvering road (an s-path) is used as a benchmark problem. This paper studies the response, stability, robustness, convergence, and computational complexity of the filters. Future work will look at implementing the methods on a robot built for experimentation.