An Outlier Robust Filter for Maritime Robotics Applications
Navigation systems of autonomous vehicles often exploit range measurement information that may be affected by outliers. In marine application the presence of outliers in sonar bathymetry, for instance, can be particularly severe due to multipath phenomena in the acoustic propagation. This paper desc...
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| Format: | Article |
| Language: | English |
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De Gruyter
2013-12-01
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| Series: | Paladyn |
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| Online Access: | https://doi.org/10.2478/pjbr-2013-0012 |
| _version_ | 1827801907836485632 |
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| author | Indiveri Giovanni |
| author_facet | Indiveri Giovanni |
| author_sort | Indiveri Giovanni |
| collection | DOAJ |
| description | Navigation systems of autonomous vehicles often exploit range measurement information that may be affected by
outliers. In marine application the presence of outliers in sonar bathymetry, for instance, can be particularly severe
due to multipath phenomena in the acoustic propagation. This paper describes a possible approach to process range
measurements highly contaminated by outliers. The proposed solution builds on a robust parameter identification
algorithm minimizing a nonlinear cost function that exploits the mathematical properties of Gibbs entropy. Numerical
examples on simulated data are provided to illustrate the method and its performance. The use of simulated data
allows to vary the amount of noise and outliers contamination while knowing the ground truth values of the parameters
to be identified. For the sake of experimental validation, the method is also applied to third party (publicly available)
upward looking sonar ice draft data collected by submarines in the Arctic Ocean. |
| first_indexed | 2024-03-11T20:32:10Z |
| format | Article |
| id | doaj.art-4f331a47451542e9b6408f8e6598bd90 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-11T20:32:10Z |
| publishDate | 2013-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-4f331a47451542e9b6408f8e6598bd902023-10-02T07:55:44ZengDe GruyterPaladyn2081-48362013-12-014419620310.2478/pjbr-2013-0012An Outlier Robust Filter for Maritime Robotics ApplicationsIndiveri Giovanni0Dip. Ing. Innovazione Università del Salento, ISME node, via Monteroni, 73100 Lecce, ItalyNavigation systems of autonomous vehicles often exploit range measurement information that may be affected by outliers. In marine application the presence of outliers in sonar bathymetry, for instance, can be particularly severe due to multipath phenomena in the acoustic propagation. This paper describes a possible approach to process range measurements highly contaminated by outliers. The proposed solution builds on a robust parameter identification algorithm minimizing a nonlinear cost function that exploits the mathematical properties of Gibbs entropy. Numerical examples on simulated data are provided to illustrate the method and its performance. The use of simulated data allows to vary the amount of noise and outliers contamination while knowing the ground truth values of the parameters to be identified. For the sake of experimental validation, the method is also applied to third party (publicly available) upward looking sonar ice draft data collected by submarines in the Arctic Ocean.https://doi.org/10.2478/pjbr-2013-0012marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation |
| spellingShingle | Indiveri Giovanni An Outlier Robust Filter for Maritime Robotics Applications Paladyn marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation |
| title | An Outlier Robust Filter for Maritime Robotics Applications |
| title_full | An Outlier Robust Filter for Maritime Robotics Applications |
| title_fullStr | An Outlier Robust Filter for Maritime Robotics Applications |
| title_full_unstemmed | An Outlier Robust Filter for Maritime Robotics Applications |
| title_short | An Outlier Robust Filter for Maritime Robotics Applications |
| title_sort | outlier robust filter for maritime robotics applications |
| topic | marine robotics least-squares identification signal processing parameter estimation identification algorithms robust estimation |
| url | https://doi.org/10.2478/pjbr-2013-0012 |
| work_keys_str_mv | AT indiverigiovanni anoutlierrobustfilterformaritimeroboticsapplications AT indiverigiovanni outlierrobustfilterformaritimeroboticsapplications |