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This paper deals with a rail navigation problem in GPS dark regions where only accelerometer and odometer data are available. A state inequality constraint based method for estimation with a Bayesian framework and Box-Gaussian approximation has been proposed. The method makes use of sequential pseudo-measurement update. A variant of the method with rejection of outlier measurements is also proposed...
An algorithm for posterior risk-sensitive particle filter for nonlinear non-Gaussian system has been proposed in this paper. For Gaussian linear measurement case optimal proposal and for nonlinear Gaussian measurement case linearized version of optimal proposal for risk-sensitive particle filter is derived. The applicability of nonlinear risk-sensitive filters such as extended risk-sensitive filter...
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