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

Lookup NU author(s): Professor Jonathon Chambers



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.

Publication metadata

Author(s): Huang Y, Zhang Y, Xu B, Wu Z, Chambers J

Publication type: Article

Publication status: Published

Journal: IEEE/ASME Transactions on Mechatronics

Year: 2017

Volume: 22

Issue: 5

Pages: 2380-2386

Print publication date: 01/10/2017

Online publication date: 25/08/2017

Acceptance date: 09/08/2017

Date deposited: 20/08/2017

ISSN (print): 1083-4435

ISSN (electronic): 1941-014X

Publisher: IEEE


DOI: 10.1109/TMECH.2017.2744651


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