A New Outlier-Robust Student's t Based Gaussian Approximate Filter for Cooperative Localization

In this paper, a new outlier-robust Student's t based Gaussian approximate filter is proposed to address the heavy-tailed process and measurement noises induced by the outlier measurements of velocity and range in cooperative localization of autonomous underwater vehicles (AUVs). The state vect...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2017-10, Vol.22 (5), p.2380-2386
Hauptverfasser:	Yulong Huang, Yonggang Zhang, Bo Xu, Zhemin Wu, Chambers, Jonathon
Format:	Artikel
Sprache:	eng
Schlagworte:	Acoustic measurements Autonomous underwater vehicles Autonomous underwater vehicles (AUVs) Bayes methods Bayesian analysis cooperative localization Covariance matrices Degrees of freedom Gaussian process heavy-tailed noise Localization Matrix algebra Matrix methods Noise measurement nonlinear filtering outlier Parameter estimation Robustness State space models State-space methods Student's <named-content xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" content-type="math" xlink:type="simple"> <inline-formula> <tex-math notation="LaTeX"> t</tex-math> </inline-formula> </named-content> distribution variational Bayesian Velocity measurement
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