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Compute the predicted $~\hat{\boldsymbol{x}}_{i,k|k-1}~$ and $~\boldsymbol{P}_{i,k|k-1}~$ via Eqs. ( |
Compute the predicted $~v_{i,k|k-1}~$, $~\boldsymbol{V}_{i,k|k-1}~$ via Eq. ( |
Fuse the predicted estimates obtained from $~j\in\mathcal{J}_i~$ via Eqs. ( |
Initialization: set $~\boldsymbol{Y}^0_{i,k|k}~=~\bar{\boldsymbol{Y}}_{i,k|k-1},\;\hat{\boldsymbol{y}}^0_{i,k|k}~=~\bar{\boldsymbol{y}}_{i,k|k-1},\;~v_{i,k}~=~v_{i,k|k-1}~+~1,\;\boldsymbol{V}^0_{i,k}~=~\boldsymbol{V}_{i,k|k-1}$; |
VB approximation; |
Compute the local measurement information contribution: if $~i\in\mathcal{S}~$, $~\hat{\boldsymbol\varLambda}_{i,k}^l~=~v_{i,k}\boldsymbol{V}^{l-1}_{i,k},\;~\boldsymbol{u}_{i,k}^l~=~\boldsymbol{\mathcal{H}}_{i,k}^{\text{T}}\hat{\boldsymbol\varLambda}_{i,k}(\tilde{\boldsymbol{z}}_{i,k}~-~\boldsymbol{\mathcal{H}}_{i,k}\boldsymbol{x}_{i,k|k-1}),\;~\boldsymbol{U}_{i,k}^l~=~\boldsymbol{\mathcal{H}}_{i,k}^{\text{T}}\hat{\boldsymbol\varLambda}_{i,k}\boldsymbol{\mathcal{H}}_{i,k}$; if $~i\in\mathcal{C}~$, $~\boldsymbol{u}_{i,k}^l~=~\boldsymbol{0},\;\boldsymbol{U}_{i,k}^l~=~\boldsymbol{0}~$; |
Update the local posterior estimate |
| Position (m) | Velocity (m/s) | Turn rate (deg/s) | |
| CubICF | 131.473 | 206.281 | 18.004 |
| HCCKF | 120.344 | 41.010 | 7.200 |
| CLCP-UKF | 123.210 | 908.755 | 59.644 |
| VB-CCKF | 64.694 | 34.689 | 3.281 |
| VB-DACIF |
| Algorithm | $~L=1~$ | $~L=2~$ | $~L=3~$ | $~L=4~$ | $~L=5~$ |
| VB-CCKF | 64.694 | 62.015 | 63.198 | 64.271 | 64.871 |
| VB-DACIF |
| Algorithm | $~L=1~$ | $~L=2~$ | $~L=3~$ | $~L=4~$ | $~L=5~$ |
| VB-CCKF | 34.689 | 34.490 | 34.388 | 35.356 | 36.170 |
| VB-DACIF |
| Algorithm | $~L=1~$ | $~L=2~$ | $~L=3~$ | $~L=4~$ | $~L=5~$ |
| VB-CCKF | 3.281 | 3.214 | 3.121 | 3.289 | 3.312 |
| VB-DACIF |
| Algorithm | $~L=1~$ | $~L=2~$ | $~L=3~$ | $~L=4~$ | $~L=5~$ |
| VB-CCKF | 40.725 | 36.120 | 31.026 | 30.579 | 30.192 |
| VB-DACIF |
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