@inproceedings{343b680131af4f1c84f5d2ccad2ba562,
title = "The vision-based relative navigation using improved adaptive cubature huber-based filtering",
abstract = "This paper presents the adaptive cubature Huber-based filtering(ACHF) algorithm which is applied to vision-based relative navigation between two unmanned aerial vehicles designated leader and follower. The proposed ACHF algorithm makes use of the Huber technique to modify the measurement update equations of the conventional cubature kalman filtering. Furthermore, the covariance matching technique is adopted to adjust the covariance matrices of the process noises and measurement noises online. The ACHF algorithm can estimate the precise relative navigation informations. Therefore, the proposed ACHF algorithm is robust to the non-Gaussian random measurement error. Simulation results show the superiority of the proposed ACHF algorithm in robustness and accuracy compared with the EKF, CKF and CHF algorithm.",
author = "Xu Zhang and Naigang Cui and Xiaogang Wang and Hutao Cui",
note = "Publisher Copyright: {\textcopyright} 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.; 21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017 ; Conference date: 06-03-2017 Through 09-03-2017",
year = "2017",
doi = "10.2514/6.2017-2102",
language = "英语",
isbn = "9781624104633",
series = "21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017",
publisher = "American Institute of Aeronautics and Astronautics Inc, AIAA",
booktitle = "21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017",
}