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, utilized to better distinguish them, and an adaptive method is embedded, leading to a sliding window variational outlier-robust Kalman filter based on Student’s t-noise modeling. Target tracking simulations and experiments show that the tracking accuracy and consistency of the proposed filter are superior to those of the existing state-of-the-art outlier-robust methods thanks to the improved ability to identify the outliers but at a cost of greater computational burden.
A Sliding Window Variational Outlier-Robust Kalman Filter Based on Student’s t-Noise Modeling
IEEE Transactions on Aerospace and Electronic Systems ; 58 , 5 ; 4835-4849
01.10.2022
3750364 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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