Maximum Correntropy Based Unscented Particle Filter for Cooperative Navigation with Heavy-Tailed Measurement Noises

In this paper, a novel robust particle filter is proposed to address the measurement outliers occurring in the multiple autonomous underwater vehicles (AUVs) based cooperative navigation (CN). As compared with the classic unscented particle filter (UPF) based on Gaussian assumption of measurement no...

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Detalhes bibliográficos
Main Authors: Ying Fan, Yonggang Zhang, Guoqing Wang, Xiaoyu Wang, Ning Li
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2018-09-01
Colecção:Sensors
Assuntos:
autonomous underwater vehicle (AUV)
cooperative navigation
maximum correntropy criterion
unscented particle filter
measurement outliers
KLD-resampling
Acesso em linha:http://www.mdpi.com/1424-8220/18/10/3183
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