A Novel Robust Kalman Filter With Non-stationary Heavy-tailed Measurement Noise
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.188
Abstract: Abstract A novel robust Kalman filter based on Gaussian-Student’s t mixture (GSTM) distribution is proposed to address the filtering problem of a linear system with non-stationary heavy-tailed measurement noise. The mixing probability is recursively estimated… read more here.
Keywords: heavy tailed; tailed measurement; non stationary; robust kalman ... See more keywords
Low-cost IMU and odometer tightly coupled integration with Robust Kalman filter for underground 3-D pipeline mapping
Sign Up to like & getrecommendations! Published in 2019 at "Measurement"
DOI: 10.1016/j.measurement.2019.01.068
Abstract: Abstract A low-cost IMU and odometer integration system is developed in this paper for underground pipeline mapping. A tightly coupled integration between IMU and odometer is implemented to decrease the error caused by the odometer… read more here.
Keywords: robust kalman; integration; kalman filter; coupled integration ... See more keywords
Robust Kalman Smoothers With Linear Equality Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2021.3122456
Abstract: It is well known that the Kalman filter (KF) performance is clearly degraded in real-life applications where the system model is misspecified to a certain extent, that is, when the assumed knowledge does not perfectly… read more here.
Keywords: robust kalman; linearly constrained; equality constraints; linear equality ... See more keywords
A Sliding Window Variational Outlier-Robust Kalman Filter Based on Student’s t-Noise Modeling
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2022.3164012
Abstract: Existing robust state estimation methods are generally unable to distinguish model uncertainties (state outliers) from measurement outliers as they only exploit the current measurement. In this article, the measurements in a sliding window are, therefore,… read more here.
Keywords: robust kalman; kalman filter; variational outlier; sliding window ... See more keywords
Robust Kalman Filter for Linear System With Convex Polytopic Uncertainties
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2022.3170911
Abstract: This brief considers robust Kalman filtering problem for linear discrete-time systems with convex polytopic uncertain parameters. First, we characterize the uncertain parameter matrices as a combination of several vertex matrices. Then, based on the mean… read more here.
Keywords: robust kalman; variance constrained; convex polytopic; filter ... See more keywords
An Improved Robust Kalman Filter for SINS/DVL Tightly Integrated Navigation System
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2021.3079556
Abstract: Aiming at the problem of outliers in Doppler velocity log (DVL) beam measurements, for strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) tightly coupled system, an improved robust Kalman filter (KF) algorithm is proposed, which… read more here.
Keywords: dvl tightly; system; robust kalman; improved robust ... See more keywords
Innovative And Additive Outlier Robust Kalman Filtering With A Robust Particle Filter
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Signal Processing"
DOI: 10.1109/tsp.2021.3125136
Abstract: In this paper, we propose CE-BASS, a particle mixture Kalman filter which is robust to both innovative and additive outliers, and able to fully capture multi-modality in the distribution of the hidden state. Furthermore, the… read more here.
Keywords: outlier robust; innovative additive; particle; robust kalman ... See more keywords
Integrated navigation system (INS/auxiliary sensor) based on adaptive robust Kalman filter with partial measurements
Sign Up to like & getrecommendations! Published in 2022 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/01423312221112192
Abstract: Inertial navigation system (INS) is the most common positioning system in the underwater vehicle due to the limitations of penetration of the global navigation system. Amendment of INS cumulative error is made possible using data… read more here.
Keywords: system; system ins; adaptive robust; robust kalman ... See more keywords
Tracking the trajectory of an object in a noisy environment with unknown statistics: A novel robust Kalman filter residue-based approach
Sign Up to like & getrecommendations! Published in 2023 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/01423312221142119
Abstract: A novel robust Kalman filter (KF)-based controller design approach is proposed to accurately track a specified trajectory under unknown stochastic disturbance, known deterministic disturbance, and measurement noise. The system is nonlinear and is approximated by… read more here.
Keywords: disturbance; robust kalman; filter; kalman filter ... See more keywords