A non-linear combination filtering algorithm in MINS/GNSS navigation system

Author(s):  
Yue Peng ◽  
Yu Liu ◽  
Chengtao Cai
2020 ◽  
Vol 34 (04) ◽  
pp. 6137-6144
Author(s):  
Di Wang ◽  
Xiangyu Guo ◽  
Chaowen Guan ◽  
Shi Li ◽  
Jinhui Xu

In this paper we study the problem of estimating stochastic linear combination of non-linear regressions, which has a close connection with many machine learning and statistical models such as non-linear regressions, the Single Index, Multi-index, Varying Coefficient Index Models and Two-layer Neural Networks. Specifically, we first show that with some mild assumptions, if the variate vector x is multivariate Gaussian, then there is an algorithm whose output vectors have ℓ2-norm estimation errors of O(√p/n) with high probability, where p is the dimension of x and n is the number of samples. Then we extend our result to the case where x is sub-Gaussian using the zero-bias transformation, which could be seen as a generalization of the classic Stein's lemma. We also show that with some additional assumptions there is an algorithm whose output vectors have ℓ∞-norm estimation errors of O(1/√p + √p/n) with high probability. Finally, for both Gaussian and sub-Gaussian cases we propose a faster sub-sampling based algorithm and show that when the sub-sample sizes are large enough then the estimation errors will not be sacrificed by too much. Experiments for both cases support our theoretical results. To the best of our knowledge, this is the first work that studies and provides theoretical guarantees for the stochastic linear combination of non-linear regressions model.


2004 ◽  
Vol 4 (8) ◽  
pp. 466-466
Author(s):  
M. Di Luca ◽  
F. Domini ◽  
C. Caudek

2013 ◽  
Vol 347-350 ◽  
pp. 1544-1548
Author(s):  
Zi Yu Li ◽  
Yan Liu ◽  
Ping Zhu ◽  
Cheng Ying

In multi-sensor integrated navigation systems, when sub-systems are non-linear and with Gaussian noise, the federated Kalman filter commonly used generates large error or even failure when estimating the global fusion state. This paper, taking JIDS/SINS/GPS integrated navigation system as example, proposes a federated particle filter technology to solve problems above. This technology, combining the particle filter with the federated Kalman filter, can be applied to non-linear non-Gaussian integrated system. It is proved effective in information fusion algorithm by simulated application, where the navigation information gets well fused.


Sign in / Sign up

Export Citation Format

Share Document