Design method of robust Kalman filter via ℓ1 regression and its application for vehicle control with outliers

@article{Kaneda2012DesignMO,
  title={Design method of robust Kalman filter via ℓ1 regression and its application for vehicle control with outliers},
  author={Yasuaki Kaneda and Yasuharu Irizuki and Masaki Yamakita},
  journal={IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society},
  year={2012},
  pages={2222-2227}
}
In many cases, outliers are contained in sensor signals, and these deteriorate performances of control systems, e.g., UAV and UGV using non-contact sensors. Many reduction methods of the outliers have been proposed. One of the methods is robust Kalman filter (RKF) via ℓ1 regression. The method is easy to implement and compute due to a simple structure and convex optimization problem, so the method attracts many attentions. However, parameters of the method are designed by heuristic methods. In… CONTINUE READING