An improved adaptive robust information filter for spacecraft relative navigation

Abstract

This work concentrates on addressing the problem of time-varying measurement noise covariance and outliers (contaminated Gaussian distribution), which can significantly deteriorate the estimation accuracy of conventional Kalman filter. Adaptive filters or robust filters are only suitable for solving one of the above-mentioned problems. Meanwhile, the existing adaptive robust filters, performing unsatisfactorily, also can not meet the requirements of spacecraft relative navigation, which needs an accurate and reliable filter. This paper proposes an improved adaptive robust information filter, referred to as variational Bayesian (VB) adaptive dynamic-covariance-scaling (DCS)-based cubature information filter (VB-DCSCIF). The proposed filter, based on the cubature information filter framework, uses VB approximation to track measurement noise covariance with time-varying statistical characteristics, and relies on the improved DCS kernel function to suppress outliers in measurements. Therefore, VB-DCSCIF incorporates the advantages of VB approximation and the improved DCS kernel, exhibiting adaptivity and robustness. Spacecraft relative navigation simulations and Monte Carlo simulations demonstrate that VB-DCSCIF outperforms other filters for providing high-precision state estimation under time-varying measurement noise covariance and outliers.