Leong, Pei; Arulampalam, Sanjeev; Lamahewa, Tharaka A; Abhayapala, Thushara
In this paper, a fixed-lag and a fixed-interval Gaussian-sum cubature Kalman smoother are proposed for the bearings-only tracking problem. The smoothers are of the forward-backward type and they utilise the Gaussian-sum cubature Kalman filter with improved robustness presented by the authors in . Simulation results show that both the fixed-lag and fixed-interval smoothers exhibit improved accuracy over their filtering counterpart and outperform other existing smoothers of the same type for...[Show more]
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