Robust Huber-Based Iterated Divided Difference Filtering with Application to Cooperative Localization of Autonomous Underwater Vehicles

Robust Huber-Based Iterated Divided Difference Filtering with Application to Cooperative Localization of Autonomous Underwater Vehicles

A new algorithm called Huber-based iterated divided difference filtering (HIDDF) is derived and applied to cooperative localization of autonomous underwater vehicles (AUVs) supported by a single surface leader. The position states are estimated using acoustic range measurements relative to the leade...

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Bibliographic Details
Main Authors: Wei Gao, Yalong Liu, Bo Xu
Format: Article
Language:English
Published: MDPI AG 2014-12-01
Series:Sensors
Subjects:
robustness
nonlinear state estimation
Huber-based iterated divided difference filtering
autonomous underwater vehicles
cooperative localization
Online Access:http://www.mdpi.com/1424-8220/14/12/24523

Internet

http://www.mdpi.com/1424-8220/14/12/24523

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