State and Measurement Noise in Positioning and Tracking: Covariance Matrices Estimation and Gaussianity Assessment

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F18%3A43952490" target="_blank" >RIV/49777513:23520/18:43952490 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/PLANS.2018.8373523" target="_blank" >https://doi.org/10.1109/PLANS.2018.8373523</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PLANS.2018.8373523" target="_blank" >10.1109/PLANS.2018.8373523</a>

Result language
angličtina
Original language name
State and Measurement Noise in Positioning and Tracking: Covariance Matrices Estimation and Gaussianity Assessment
Original language description
The paper presents the Noise covariance matrices Estimation with Gaussianity Assessment (NEGA) method that describes the noise characteristics of a linear time-varying statespace model. In particular, the motivation is placed on the state covariance matrices noise estimates combined with assessment of whether measurements noises are Gaussian or not. The proposed NEGA method, which belongs into the group of the correlation methods, provides unbiased and consistent noise covariance matrices estimate and hypothesis testing based decisions regarding the noises Gaussianity. Simultaneously conducting estimate and assessment is essential for an optimal design of any reliable and integrity-assured positioning and tracking algorithm. The proposed method applicability is extended for the nonlinear systems and thoroughly illustrated in numerical examples of both a nonlinear tracking example and a global navigation satellite system (GNSS) based positioning.
Czech name
—
Czech description
—

Project
<a href="/en/project/GC16-19999J" target="_blank" >GC16-19999J: Cooperative Approaches to Design of Nonlinear Filters</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS)
ISBN
978-1-5386-1647-5
ISSN
2153-358X
e-ISSN
2153-3598
Number of pages
10
Pages from-to
1326-1335
Publisher name
IEEE
Place of publication
Monterey, USA
Event location
Monterey, USA
Event date
Apr 23, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000435257800168

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