Recursive Estimation Algorithms for AUV Collaborative Navigation in Case of Abnormal Outliers in Measurements
Keywords:
correntropy, outliers, algorithms, comparison, accuracy, consistency, computational complexity, nonlinear filtering, navigation data
Abstract
To solve the problem of navigation for multiple autonomous unmanned underwater vehicles, an extended Kalman filter with an additional option of rejection of abnormal outliers in the measurement errors, and a correntropy extended Kalman filter have been developed. They have been compared to each other in terms of accuracy, consistency and computational complexity in the scenarios with Gaussian and non-Gaussian noise in the measurements, containing pulse-type interference.
Published
2025-05-07
