title: Feedback Robust Cubature Kalman Filter for Target Tracking Using an Angle Sensor.
abstract: The direction of arrival (DOA) tracking problem based on an angle sensor is an important topic in many fields. In this paper, a nonlinear filter named the feedback M-estimation based robust cubature Kalman filter (FMR-CKF) is proposed to deal with measurement outliers from the angle sensor. The filter designs a new equivalent weight function with the Mahalanobis distance to combine the cubature Kalman filter (CKF) with the M-estimation method. Moreover, by embedding a feedback strategy which consists of a splitting and merging procedure, the proper sub-filter (the standard CKF or the robust CKF) can be chosen in each time index. Hence, the probability of the outliers' misjudgment can be reduced. Numerical experiments show that the FMR-CKF performs better than the CKF and conventional robust filters in terms of accuracy and robustness with good computational efficiency. Additionally, the filter can be extended to the nonlinear applications using other types of sensors.
authors.affiliation: Information and Navigation College Air Force Engineering University, Fenghao east road No.1, Xi'an 710077, China. wuhaostudy@163.com.
authors.forename: Hao
authors.initials: H
authors.lastname: Wu
authors.affiliation: Information and Navigation College Air Force Engineering University, Fenghao east road No.1, Xi'an 710077, China. chenshuxin68@163.com.
authors.forename: Shuxin
authors.initials: S
authors.lastname: Chen
authors.affiliation: Information and Navigation College Air Force Engineering University, Fenghao east road No.1, Xi'an 710077, China. bf_yang@163.com.
authors.forename: Binfeng
authors.initials: B
authors.lastname: Yang
authors.affiliation: Information and Navigation College Air Force Engineering University, Fenghao east road No.1, Xi'an 710077, China. kunchen365@sina.com.
authors.forename: Kun
authors.initials: K
authors.lastname: Chen
keywords: DOA tracking; angle sensor; cubature Kalman filter; feedback strategy; nonlinear system; robust estimation