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

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  2. Professor Jonathon Chambers
Author(s)Huang Y, Zhang Y, Xu B, Wu Z, Chambers J
Publication type Article
JournalIEEE/ASME Transactions on Mechatronics
Issueepub ahead of print
ISSN (print)1083-4435
ISSN (electronic)1941-014X
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In this paper, a new outlier-robust Student’s t based Gaussian approximate filter is proposed to address the heavytailed process and measurement noises induced by the outlier measurements of velocity and range in cooperative localization of autonomous underwater vehicles (AUVs). The state vector, scale matrices and degrees of freedom (dof) parameters are estimated based on the variational Bayesian approach by using the constructed Student’s t based hierarchical Gaussian statespace model. The performances of the proposed filter and existing filters are tested in the cooperative localization of an AUV through a lake trial. Experimental results illustrate that the proposed filter has better localization accuracy and robustness than existing state-of-the-art outlier-robust filters.
PublisherInstitute of Electrical and Electronics Engineers
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