Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Observation-centered Kalman filters   Various methods have been proposed for the nonlinear filtering problem,
including the extended Kalman filter (EKF), iterated extended Kalman filter
(IEKF), unscented Kalman filter (UKF) and iterated unscented Kalman filter
(IUKF). In this paper two new nonlinear Kalman filters are proposed and
investigated, namely the observation-centered extended Kalman filter (OCEKF)
and observation-centered unscented Kalman filter (OCUKF). Although the UKF and
EKF are common default choices for nonlinear filtering, there are situations
where they are bad choices. Examples are given where the EKF and UKF perform
very poorly, and the IEKF and OCEKF perform well. In addition the IUKF and
OCUKF are generally similar to the IEKF and OCEKF, and also perform well,
though care is needed in the choice of tuning parameters when the observation
error is small. The reasons for this behaviour are explored in detail.

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The categories of this paper are: astro-ph
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The categories of this paper are: ao-sci
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The categories of this paper are: gr-qc
35
The categories of this paper are: mtrl-th
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The categories of this paper are: nucl-th
36
The categories of this paper are: cmp-lg
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The categories of this paper are: acc-phys
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The categories of this paper are: funct-an
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The categories of this paper are: solv-int
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The categories of this paper are: hep-lat
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The categories of this paper are: patt-sol
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The categories of this paper are: q-bio
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The categories of this paper are: cond-mat
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The categories of this paper are: hep-th
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The categories of this paper are: comp-gas
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The categories of this paper are: alg-geom