Initial covariance estimation and analysis for EKF localization using route-based experimental data

Reliable initialization of covariance matrices is crucial for accurate state estimation in extended Kalman filter (EKF) applications. However, many previous works did not technically formulate but rather relied on assumed or arbitrary covariance values such as identity matrices or random initializat...

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Bibliographic Details

Main Authors:	Muhammad Haniff, Gusrial, Nur Aqilah, Othman, Hamzah, Ahmad, Mohd Hasnun Ariff, Hassan, Norhidayah, Mohamad Yatim
Format:	Article
Language:	en
Published:	Elsevier 2026
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	https://umpir.ump.edu.my/id/eprint/47288/1/Initial%20covariance%20estimation%20and%20analysis.pdf https://doi.org/10.1016/j.fraope.2026.100533 https://umpir.ump.edu.my/id/eprint/47288/
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