Centralized Fusion of Unscented Kalman Filter Based on Huber Robust Method for Nonlinear Moving Target Tracking
Joint Authors
Huang, Jue
Yan, Bing
Hu, Shouwei
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-09-21
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
We propose a robust method for tracking nonlinear target with the fusion unscented Kalman filter (FUKF).
We noticed that when some outliers exist in the measurements of the sensors, they cannot track the target accurately by using the standard Kalman filters.
The robust statistics theory is used in this paper to solve this problem.
The measurement noise variance which is at the time of the outlier is restructured through minimizing the designed cost function.
Then, the standard fusion unscented Kalman filter is used to track the target in order to avoid the bias brought by the linear approximation.
Compared to the traditional tracking method and Huber robust method (HFUKF), this method has a more accurate performance and can track the target efficiently while the outliers exist.
Last, simulation examples in three different conditions are given and the simulation results show the advantages of the proposed method over the fusion unscented Kalman filter (FUKF) and the Huber robust method (HFUKF).
American Psychological Association (APA)
Huang, Jue& Yan, Bing& Hu, Shouwei. 2015. Centralized Fusion of Unscented Kalman Filter Based on Huber Robust Method for Nonlinear Moving Target Tracking. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1073436
Modern Language Association (MLA)
Huang, Jue…[et al.]. Centralized Fusion of Unscented Kalman Filter Based on Huber Robust Method for Nonlinear Moving Target Tracking. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1073436
American Medical Association (AMA)
Huang, Jue& Yan, Bing& Hu, Shouwei. Centralized Fusion of Unscented Kalman Filter Based on Huber Robust Method for Nonlinear Moving Target Tracking. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1073436
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073436