In this paper, a new outlier-robust Student's t based Gaussian approximate filter is proposed
to address the heavy-tailed process and measurement noises induced by the outlier …

In cooperative localization for autonomous underwater vehicles (AUVs), the practical
stochastic noise may be heavy-tailed, and nonstationary distributed because of acoustic …

The finite impulse response (FIR) approach is known to be more robust than the Kalman
approach. In this paper, we derive a batch-lag maximum likelihood (ML) FIR smoother for full …

Gravity-aided navigation is one of key techniques for the navigation of underwater vehicles.
Cubature Kalman filter (CKF)-based matching algorithm improves the positioning accuracy …

The extended Kalman filter (EKF) is a method extensively applied in many areas,
particularly, in nonlinear target tracking. The optimization criterion commonly used in EKF is …

We consider the nonlinear robust filtering problem where the measurements are partially
disturbed by outliers. A new robust Kalman filter based on a detect-and-reject idea is …

This paper proposes a modified unscented Kalman filter (UKF) with both adaptivity and
robustness. In the proposed filter, the adaptivity is achieved by estimating the time-varying …

This paper focuses on solving the problems of unknown measurement noise covariance and
measurement outliers, which occurs in the vision/dual-IMU integrated attitude determination …

AKALMAN filter (KF) is a recursive estimator that can receive an optimal estimation result
based on the minimum mean square error criterion (MMSEC), if both the dynamics model …

In this paper, a unified form for robust Gaussian information filtering based on M-estimate is
proposed, which can incorporate robust weight functions with zero weight for large residues …