Evaluation of Localization by Extended Kalman Filter, Unscented Kalman Filter, and Particle Filter-Based Techniques

Table 1

Index of notation.

Notation	Description
	Time interval
	Random parameter
	Current state
	Previous state
	Observation model
	Prediction state function
	Prediction measurement function
	Current state covariance
	Previous state covariance
	Covariance matrix of the process noise
	Covariance matrix of the measurement noise
	Predictable estimation
	Covariance matrix of
	Predictable estimation Jacobian matrix
	Kalman optimal gain
	Covariance matrix subsequent state
	State transition matrices
	Standard deviation
	Denote locations
	State information vector
	Output measurement matrix
	Process noise
	Measurement noise
	Weights
	Sigma point
	Sigma point where
	Estimation state
	True state
	Dimension of
	Set of particles
	Importance factor
	Positive state function
	Robot sampling time
	Successive approximation
	Dirac function
	Denote the samples