A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Table 1

The five test functions.

Function	Function expression	Range	Global optimal
Schaffer		[−10, 10]	minf(x) = f (0, 0) = 0
Griewank		[−10, 10]	minf(x) = f (0, …, 0) = 0
Ackley		[−10, 10]	minf(x) = f (0, …, 0) = 0
Branin		x1[−5, 10]	minf(x) = 0.397887
		x2[0, 15]	xmin = (−, 12.275), (, 2.275), (9.425, 2.475)
Six-Hump Camelback		[−3, 3]	minf(x) = 1.0316
			xmin= (0.0898, −0.7126),
			(−0.0898, 0.7126)

Note: D is set to 2 in this paper.