Gaussian-sum cubature kalman filter with improved robustness for bearings-only tracking

Pei H. Leong; Sanjeev Arulampalam; Tharaka A. Lamahewa; Thushara D. Abhayapala

doi:10.1109/LSP.2014.2307075

Gaussian-sum cubature kalman filter with improved robustness for bearings-only tracking

Pei H. Leong
, Sanjeev Arulampalam
, Tharaka A. Lamahewa
, Thushara D. Abhayapala

Research output: Contribution to journal › Article › peer-review

29 Citations (Scopus)

Abstract

This letter presents a Gaussian-sum cubature Kalman filter with improved robustness compared to the original algorithm proposed by the authors in , which demonstrated excellent accuracy and efficiency for the bearings-only tracking problem. Modifications are made in the splitting and merging procedure of the Gaussian components in the algorithm. Simulation results confirm the improved robustness of the modified algorithm against the choice of threshold level for the splitting procedure.

Original language	English
Article number	6746072
Pages (from-to)	513-517
Number of pages	5
Journal	IEEE Signal Processing Letters
Volume	21
Issue number	5
DOIs	https://doi.org/10.1109/LSP.2014.2307075
Publication status	Published - May 2014

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10.1109/LSP.2014.2307075

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abstract = "This letter presents a Gaussian-sum cubature Kalman filter with improved robustness compared to the original algorithm proposed by the authors in , which demonstrated excellent accuracy and efficiency for the bearings-only tracking problem. Modifications are made in the splitting and merging procedure of the Gaussian components in the algorithm. Simulation results confirm the improved robustness of the modified algorithm against the choice of threshold level for the splitting procedure.",

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Gaussian-sum cubature kalman filter with improved robustness for bearings-only tracking

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