Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System
To deal with the problems of outliers and nonlinearity in the complex underwater environment, a Huber’s M-estimation-based cubature Kalman filter (CKF) is proposed for an inertial navigation system (INS)/Doppler velocity log (DVL) integrated system. First, a loosely coupled INS/DVL integrated system...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2020-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/1060672 |