Hilgers, P.P.HilgersAment, C.C.Ament2022-03-112022-03-112010https://publica.fraunhofer.de/handle/publica/37043610.1109/CCA.2010.5611300We present an algorithm for a distribution and decentralisation of the unscented Kalman filter and the underlying non-linear models. The filter itself is the adaption of a distribution scheme of linear filters. The distribution of the underlying models leads to small, scalable filter nodes which allow precise non-linear estimation.en004670conference paper