A Maximum Correntropy Divided Difference Filter for Cooperative Localization | Zendy

Chengjiao Sun | Zendy; Yonggang Zhang | Zendy; Guoqing Wang | Zendy; Wei Gao | Zendy

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A Maximum Correntropy Divided Difference Filter for Cooperative Localization

Author(s) -

Chengjiao Sun,

Yonggang Zhang,

Guoqing Wang,

Wei Gao

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2859391

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper derives a new maximum correntropy divided difference filter (DDF) to address the heavy-tailed measurement noise induced by non-Gaussian measurements in cooperative localization of autonomous underwater vehicles. By integrating the advantages of both the DDF and the maximum correntropy criterion, the proposed filter exhibits localization accuracy and robustness to address the heavy-tailed impulsive noise. The proposed maximum correntropy DDF has been tested through a lake trial. Experimental results indicate the superior performance of the proposed algorithm.

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