Basic localization alogrithm using cubature Kalman filter based on encoder and laser

This paper presents a basic localization algorithm for the outdoor navigation system. The algorithm uses cubature Kalman filter based on standard dead reckoning sensors and laser range and bearing information. The cubature Kalman filter is used to track the vehicle based on three key models, the vehicle model, the beacon model and the sensor model. The simulation results show that the localization algorithm using cubature Kalman filter performs much better than using the extended Kalman filter.