A novel robust Rauch–Tung–Striebel smoothing framework is proposed based on a generalized Gaussian scale mixture (GGScM) distribution for a linear state-space model with heavy-tailed and/or skew noises. The state trajectory, mixing parameters, and unknown distribution parameters are jointly inferred using the variational Bayesian approach. As such, a major contribution of this paper is unifying results within the GGScM distribution framework. Simulation and experimental results demonstrate that the proposed smoother has better accuracy than existing smoothers.


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    Title :

    Robust Rauch–Tung–Striebel Smoothing Framework for Heavy-Tailed and/or Skew Noises


    Contributors:


    Publication date :

    2020-02-01


    Size :

    8202893 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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