Correntropy Based Divided Difference Filtering for the Positioning of Ships

Xi Liu; Badong Chen; Shiyuan Wang; Shaoyi Du

doi:10.3390/s18114080

Correntropy Based Divided Difference Filtering for the Positioning of Ships

Sensors (Basel). 2018 Nov 21;18(11):4080. doi: 10.3390/s18114080.

Authors

Xi Liu¹, Badong Chen², Shiyuan Wang³, Shaoyi Du⁴

Affiliations

¹ School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China. lx1102@stu.xjtu.edu.cn.
² School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China. chenbd@mail.xjtu.edu.cn.
³ College of Electronic and Information Engineering, Southwest University, Chongqing 400715, China. wsy@swu.edu.cn.
⁴ School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China. dushaoyi@mail.xjtu.edu.cn.

Abstract

In this paper, robust first and second-order divided difference filtering algorithms based on correntropy are proposed, which not only retain the advantages of divided difference filters, but also exhibit robustness in the presence of non-Gaussian noises, especially when the measurements are contaminated by heavy-tailed noises. The proposed filters are then applied to the problem of ship positioning. In order to improve the accuracy and reliability of ship positioning, the positioning method combines the Dead Reckoning (DR) algorithm and the Global Positioning System (GPS). Experimental results of an illustrative example show the superior performance of the new algorithms when applied to ship positioning.

Keywords: Dead Reckoning (DR); Global Positioning System (GPS); correntropy; divided difference filter (DDF).

Abstract

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