On designing consistent extended Kalman filter

This paper studies the consistency of the extended Kalman filter (EKF) for a kind of nonlinear systems. Based on the EKF algorithm, the authors propose the quasi-consistent EKF (QCEKF) as well as the tuning law for its parameters. The quasi-consistency of the proposed algorithm is proved. Finally, the feasibility of the algorithm is illustrated by the numerical simulation on an orbit determination example.