Candan, F. orcid.org/0000-0002-0803-610X, Beke, A., Shen, C. et al. (1 more author) (2022) An interacting multiple model correntropy Kalman filter approach for unmanned aerial vehicle localisation. In: Proceedings of the 2022 International Conference on INnovations in Intelligent SysTems and Applications (INISTA). 2022 International Conference on INnovations in Intelligent SysTems and Applications (INISTA), 08-12 Aug 2022, Biarritz, France. Institute of Electrical and Electronics Engineers ISBN 9781665498111
Abstract
This paper compares a conventional interacting multiple model Kalman filter (IMM-KF) filter and an interacting multiple models with maximum correntropy Kalman filter (IMM-MCKF). A nonlinear UAV dynamics model was used to compare these two methods. The compared filters estimated the position of the UAV under the noise distribution. Although KF has reliable accuracy, MCKF has got better results under non-Gaussian or mixed distributions. At this point, these filters have been investigated under maneuver and non-maneuver motion, and it is known that better advantages will be shown when both filters are used in the IMM. These filters have been compared under non-Gaussian distributions, and the Student’s-T distribution has been selected as a non-Gaussian type. The performance validation and testing stages are carried out with variable degrees of freedom, and scaling matrix factors for the Student’s-T distributions have been used. Results from simulation tests from 3000 independent Monte-Carlo runs are presented. In these experiments, UAV models and UAV trajectory results have been used.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Multi-model approach; interacting multiple model; maximum correntropy Kalman filter; unmanned air vehicles |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 01 Aug 2022 08:54 |
Last Modified: | 23 Sep 2023 00:13 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/INISTA55318.2022.9894214 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:189535 |