Batch Measurement Error Covariance Estimation for Robust Localization

2018 ◽  
Author(s):  
Ryan M. Watson ◽  
Clark N. Taylor ◽  
Robert C. Leishman ◽  
Jason N. Gross
Keyword(s):  
Measurement Error ◽  
Covariance Estimation ◽  
Error Covariance ◽  
Robust Localization

scholarly journals An Error Evaluation Method for the Ship Angular Flexure Measurement Based on the Principle of Relevance

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Yutong Zhang ◽  
Xianglu Ma ◽  
Shiqiao Qin ◽  
Wei Wu ◽  
Wenfeng Tan
Keyword(s):  
Measurement Error ◽  
Evaluation Method ◽  
Estimation Error ◽  
Good Prediction ◽  
Error Evaluation ◽  
Prediction Formula ◽  
Matching Method ◽  
Error Covariance ◽  
Velocity Matching ◽  
Flexure Angle

Due to the lack of true ship angular flexure data, it is difficult to evaluate its measurement error of the angular velocity matching method in practice. In this paper, the cause of the measurement error of the ship flexure angle is analyzed in theory, and an evaluation method for the ship angular flexure measurement error based on the principle of relevance is proposed. The proposed method provides a prediction formula to describe the estimation error of the static flexure angle based on the off-diagonal elements of the error covariance matrix P in Kalman filtering. In addition, the optimized coefficient F is introduced to make the prediction error range better describe the real error variation. The optimized coefficient F ensures that the proposed formula has good prediction effects in all three directions. Simulations based on the actual measured ship flexure data are carried out, and the simulation results verify the capability of the prediction formula. The proposed method can be used in the evaluation of the ship flexure measurement error.

scholarly journals Enabling Robust State Estimation Through Measurement Error Covariance Adaptation

2020 ◽  
Vol 56 (3) ◽  
pp. 2026-2040 ◽  
Author(s):  
Ryan M. Watson ◽  
Jason N. Gross ◽  
Clark N. Taylor ◽  
Robert C. Leishman
Keyword(s):  
Measurement Error ◽  
State Estimation ◽  
Error Covariance

Vibration-Robust Attitude and Heading Reference System Using Windowed Measurement Error Covariance

2017 ◽  
Vol 18 (3) ◽  
pp. 555-564
Author(s):  
Jong-Myeong Kim ◽  
Sung-Hoon Mok ◽  
Henzeh Leeghim ◽  
Chang-Yull Lee
Keyword(s):  
Measurement Error ◽  
Reference System ◽  
Error Covariance
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