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Gaussian-sum cubature Kalman smoothers for bearings-only tracking

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 [1]. 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]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings
DOI: 10.1109/ISSNIP.2014.6827589


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