Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Sensor</td><td class="align_center">Parameters</td><td class="align_center">Accuracy</td><td class="align_center">Rate (Hz)</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left" rowspan="4">IMU</td><td class="align_center">Gyroscope constant drift</td><td class="align_center"><span style="width: 49.5153ptpx;"><svg height="12.9474pt" id="M102" style="vertical-align:-2.150701pt" version="1.1" viewbox="-0.0498162 -10.7967 49.5153 12.9474" width="49.5153pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M531 71V127L115 310L531 494V550L57 335V285L531 71ZM531 -40V10H57V-40H531Z"></path></g><g transform="matrix(.013,0,0,-0.013,11.263,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 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193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z"></path></g><g transform="matrix(.013,0,0,-0.013,37.043,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,42.404,0)"><path d="M513 0V26C455 31 447 37 447 103V278C447 398 390 449 309 449C255 449 202 412 166 376V712C127 700 67 684 19 677V653C85 647 87 643 87 580V103C87 37 79 31 19 26L18 0H231V26C171 32 166 39 166 103V341C194 373 232 392 270 392C337 392 368 351 368 269V103C368 38 360 32 302 26V0H513Z"></path></g></svg></span></td><td class="align_center">200</td></tr><tr><td class="align_center">Gyroscope random walk noise</td><td class="align_center"><span style="width: 65.513ptpx;"><svg height="14.326pt" id="M103" style="vertical-align:-2.1506pt" version="1.1" viewbox="-0.0498162 -12.1754 65.513 14.326" width="65.513pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g 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x="58.6367" y="-11.4731"></rect><g transform="matrix(.013,0,0,-0.013,58.637,0)"><path d="M499 88L487 113C459 86 422 65 413 65C403 65 403 74 409 98L461 318C487 426 460 448 431 448C408 448 383 441 352 424C305 398 223 344 157 257H155L243 674C249 702 249 712 240 712C227 712 170 680 87 673L82 648H117C155 648 162 644 150 590L23 -4L30 -12C55 -4 81 3 105 8C113 53 131 150 143 187C199 281 323 387 372 387C390 387 393 369 380 311L328 86C313 19 319 -12 347 -12C379 -12 442 24 499 88Z"></path></g></svg></span></td><td class="align_center">200</td></tr><tr><td class="align_center">Accelerometer constant bias</td><td class="align_center"><span style="width: 35.5009ptpx;"><svg height="11.7522pt" id="M104" style="vertical-align:-3.40338pt" version="1.1" viewbox="-0.0498162 -8.34882 35.5009 11.7522" width="35.5009pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 290V340H323V533H265V340H52V290H265V84H323V290H535ZM535 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class="align_center">Accelerometer random walk noise</td><td class="align_center"><span style="width: 69.8234ptpx;"><svg height="15.2753pt" id="M105" style="vertical-align:-3.4033pt" version="1.1" viewbox="-0.0498162 -11.872 69.8234 15.2753" width="69.8234pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M531 71V127L115 310L531 494V550L57 335V285L531 71ZM531 -40V10H57V-40H531Z"></path></g><g transform="matrix(.013,0,0,-0.013,11.263,0)"><path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.503,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 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221 133C306 133 396 185 396 293C396 328 384 360 366 381L423 378C439 387 459 413 468 429L463 437ZM219 418C277 418 314 362 314 284C314 205 275 166 231 165C176 165 137 221 137 299C137 376 177 418 219 418ZM241 -11C285 -11 314 -14 339 -24C367 -36 384 -61 384 -95C384 -157 335 -206 240 -206C166 -206 108 -165 108 -110C108 -82 128 -54 154 -32C172 -17 195 -11 241 -11Z"></path></g><g transform="matrix(.013,0,0,-0.013,38.958,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,44.319,-1.631)"><path d="M782 731H740L476 -79H474L280 352L133 274L151 239L242 286L473 -219L782 731Z"></path></g><rect height="0.65243" width="15.3453" x="54.2883" y="-11.1697"></rect><g transform="matrix(.013,0,0,-0.013,54.288,0)"><path d="M729 650H468V622C546 615 554 610 554 527V365H213V527C213 610 221 616 297 622V650H38V622C120 616 128 611 128 527V123C128 39 120 34 40 28V0H303V28C221 34 213 40 213 123V322H554V123C554 39 546 34 460 28V0H728V28C647 34 639 39 639 123V527C639 610 647 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transform="matrix(.013,0,0,-0.013,11.263,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.503,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z"></path></g><g transform="matrix(.013,0,0,-0.013,20.467,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,26.707,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,33.028,-5.741)"><path d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z"></path></g></svg></span></td><td class="align_center">200</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Specifications of IMU and PHINS.</div>

Mathematical Problems in Engineering

tab4

Table 4

Table 4: Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System 