A Novel Robust Gaussian Approximate Smoother Based on EM for Cooperative Localization With Sensor Fault and Outliers

In this article, a novel robust Gaussian approximation smoother based on expectation-maximization (EM) algorithm is proposed for cooperative localization (CL) with faulty Doppler velocity log (DVL) and heavy-tailed measurement noise. In our model, the autonomous underwater vehicle (AUV) velocity inf...

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Bibliographic Details
Published in:	IEEE transactions on instrumentation and measurement Vol. 70; pp. 1 - 14
Main Authors:	Xu, Bo, Guo, Yu, Wang, Lianzhao, Zhang, Jiao
Format:	Journal Article
Language:	English
Published:	New York IEEE 2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Acoustic measurements Algorithms Autonomous underwater vehicles Cooperative localization (CL) Covariance matrices Covariance matrix Estimation expectation–maximization (EM) algorithm Gaussian process Gaussian smoother heavy-tailed noise Localization Mathematical model maximum likelihood (ML) estimation Maximum likelihood estimation Navigation Noise Noise measurement Outliers (statistics) Random variables Robustness State space models Student’s t distribution Underwater acoustics unknown input variational Bayesian (VB) approach
ISSN:	0018-9456, 1557-9662
Online Access:	Get full text
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