Soft-Gating Mixture Robust Kalman Filter for SINS/DVL Integrated Navigation Under DVL Outlier Interference

Aiming at the problem that complex underwater environments induce outliers in Doppler Velocity Log (DVL) measurements, which degrade the navigation accuracy of the Strapdown Inertial Navigation System (SINS)/DVL integrated system, this paper proposes a soft-gating Gaussian–Student’s <i>t</i> mixture...

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Bibliographic Details

Main Authors:	Li Luo, Luyao Zhang, Congyi Yang, Tao Liu
Format:	Artigo
Language:	Inglês
Published:	MDPI AG 2026-06-01
Series:	Journal of Marine Science and Engineering
Subjects:	SINS/DVL integrated navigation Gaussian–Student’s t mixture distribution soft-gating mechanism robust Kalman filter DVL outlier suppression
Online Access:	https://www.mdpi.com/2077-1312/14/13/1165
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