Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise

Seong Yun Cho; Jae Hong Lee; Chan Gook Park

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Paper

Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise

Topics: Guidance, Navigation and Control; Hybrid Systems; Nonlinear Signals and Systems

In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 209-213, 2022 , Lisbon, Portugal

Authors: Seong Yun Cho ¹ ; Jae Hong Lee ² and Chan Gook Park ²

Affiliations: ¹ Division of Robotics and Mobility, Kyungil University, Gyeongsan, Republic of Korea ; ² Department of Aerospace Engineering, Seoul National University, Seoul, Republic of Korea

Keyword(s): Maximum Correntropy Criterion, UKF, INS/UWB.

Abstract: In this paper, unscented Kalman filter (UKF) based on maximum correntropy criterion (MCC) instead of minimum mean square error (MMSE) criterion, and it is applied to tightly coupled integration of inertial navigation system (INS) and ultra wide-band (UWB). UWB can measure distance with an accuracy of less than 30cm in line-of-sight environment, but provides distance measurement with various types of non-Gaussian uncertainty noise in non-line-of-sight environment. In this case, if the INS/UWB system is configured with the existing MMSE-based filter, a large error occurs. To solve this problem, in this paper, UKF is designed based on MCC. Through simulation analysis, it is confirmed that the proposed filter has robust characteristics against UWB uncertainty and enables stable INS/UWB integration.

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Paper citation in several formats:

Cho, S.; Lee, J. and Park, C. (2022). Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 209-213. DOI: 10.5220/0011286000003271

@conference{icinco22,
author={Seong Yun Cho. and Jae Hong Lee. and Chan Gook Park.},
title={Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={209-213},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011286000003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise
SN - 978-989-758-585-2
IS - 2184-2809
AU - Cho, S.
AU - Lee, J.
AU - Park, C.
PY - 2022
SP - 209
EP - 213
DO - 10.5220/0011286000003271
PB - SciTePress