Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise

Abstract

In this paper, unscented Kalman filter (UKF) based on maximum correntropy criterion (MCC) instead of minimum mean square error (MMSE) criterion, and it is applied to tightly coupled integration of inertial navigation system (INS) and ultra wide-band (UWB). UWB can measure distance with an accuracy of less than 30cm in line-of-sight environment, but provides distance measurement with various types of non-Gaussian uncertainty noise in non-line-of-sight environment. In this case, if the INS/UWB system is configured with the existing MMSE-based filter, a large error occurs. To solve this problem, in this paper, UKF is designed based on MCC. Through simulation analysis, it is confirmed that the proposed filter has robust characteristics against UWB uncertainty and enables stable INS/UWB integration.