Huber's M-estimation-based cubature Kalman filter for an INS/DVL integrated system

DOI10.1155/2020/1060672MaRDI QIDQ2004089zbMATH OpenOpenAlexFDO

Authors Yao Li, Lanhua Hou, Yang Yang, Jinwu Tong

Publication date 14 October 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/1060672

Mathematics Subject Classification ID

Nonparametric robustness (62G35) Linear regression; mixed models (62J05) Filtering in stochastic control theory (93E11)

Review text

Summary: 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.

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Cites work

• A robust regression methodology via M-estimation
• Robust regression: Asymptotics, conjectures and Monte Carlo

Cited in

(6)

• Kalman filter for cross-noise in the integration of SINS and DVL
• Modeling of daily confirmed Saudi COVID-19 cases using inverted exponential regression
• A quadratic interpolation-based variational Bayesian algorithm for measurement information lost in underwater navigation
• Tightly coupled long baseline/ultra-short baseline integrated navigation system
• An adaptive vehicle tracking enhancement algorithm based on fuzzy interacting multiple model robust cubature Kalman filtering
• Asynchronous direct Kalman filtering approach for underwater integrated navigation system

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