@inproceedings{35fa428fadc24c6daafda048627d7d48,
title = "An Adaptive Robust Student{\textquoteright}s t-Based Kalman Filter Based on Multi-sensor Fusion",
abstract = "In practical applications, Kalman filter and its variants such as UKF may suffer from the time-varying measurement noise and process-error. Especially, when the process-error is heavy-tailed probability distribution, the Gaussian assumption would be no longer as accurately as expected. Aiming at the time-varying measurement noise and the situation with heavy-tailed process-error problems, in this paper, a new algorithm is proposed based on Student{\textquoteright}s t-distribution and multi-sensor information fusion. The robustness of the proposed algorithm is guaranteed by the timely estimation of the measurement noise, and the adaptiveness is realized by replacing the Gaussian by the Student{\textquoteright}s t-distribution. The Kullback-Leible Divergence (KLD) is used as the criterion for distinguishing the Gaussian distribution from the Student{\textquoteright}s t-distribution. Finally, a challenging target tracking example is presented and the simulation results show that the proposed algorithm achieves a higher accuracy than the other algorithms.",
keywords = "Adaptive Kalman filter, Nonlinear filtering, Robust estimation, Student{\textquoteright}s t-distribution, Target tracking",
author = "Dapeng Wang and Hai Zhang and Hongliang Huang",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",
year = "2022",
doi = "10.1007/978-3-031-13822-5\_54",
language = "英语",
isbn = "9783031138218",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "603--613",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "德国",
}