Diagonal Interacting Multiple Model H ∞ Filtering for Simultaneuos Sensor Localization and Target Tracking with NLOS Mitigation

摘要: This paper is devoted to the problem of simultaneous localization and tracking (SLAT) in non-line-of-sight (NLOS) environments. By combining a target state sensor node location into an augmented vector, discrete-time stochastic systems with Markov jump parameters used describe switching LOS/NLOS. A robust algorithm–diagonal interacting multiple model algorithm based on H ∞ filtering (DIMMH) presented for refinement sensors’ positions when measurement noise unknown statistics. We use from real mine handle all non-Gaussian uncertainties typical mining environments, analyze performance classical (IMM) algorithm, DIMM cubature Kalman filter (CKF).