摘要：AbstractFilters for the unit sphere have to consider its inherent periodic nature. Since the unit sphere is a domain of finite size, suitable grids covering the manifold can be provided. We explain the considerations for the grid generation and provide efficient ways to implement the prediction and update steps of a novel grid filter for this manifold. The filter supports nonlinear system and measurement models in the form of transition densities and likelihoods. In the evaluation, the proposed filter achieves a higher estimation accuracy than competing approaches.
