Huber’s M-Estimation-Based Cubature Kalman Filter for an INSDVL Integrated System
Joint Authors
Li, Yao
Hou, Lanhua
Tong, Jinwu
Yang, Yang
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-26
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
To deal with the problems of outliers and nonlinearity in the complex underwater environment, a Huber’s M-estimation-based cubature Kalman filter (CKF) is proposed for an inertial navigation system (INS)/Doppler velocity log (DVL) integrated system.
First, a loosely coupled INS/DVL integrated system is designed, and the nonlinear system model is established in the case of big misalignment angle.
Then, Huber’s M-estimation is introduced for robust estimation to resist outliers.
Meanwhile, the CKF is focused to handle the nonlinearity of the state equation.
Finally, simulation and the vehicle test are conducted to evaluate the effectiveness of the proposed method.
Results show that the proposed method outperforms the conventional Kalman filter (KF) and outlier detection-based robust cubature Kalman filter (RCKF) in terms of navigation accuracy in the complex underwater environment.
American Psychological Association (APA)
Li, Yao& Hou, Lanhua& Yang, Yang& Tong, Jinwu. 2020. Huber’s M-Estimation-Based Cubature Kalman Filter for an INSDVL Integrated System. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1193017
Modern Language Association (MLA)
Li, Yao…[et al.]. Huber’s M-Estimation-Based Cubature Kalman Filter for an INSDVL Integrated System. Mathematical Problems in Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1193017
American Medical Association (AMA)
Li, Yao& Hou, Lanhua& Yang, Yang& Tong, Jinwu. Huber’s M-Estimation-Based Cubature Kalman Filter for an INSDVL Integrated System. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1193017
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1193017