Vision-aided inertial navigation (VAIN) is a prospective technique for determining the pose of the spacecraft during asteroid missions. The VAIN system can fuse the inertial and visual data by employing the high-degree cubature Kalman filter (HCKF) because it can accurately handle non-linear problems. However, the visual measurements can be corrupted by non-Gaussian noise with unknown time-varying covariance, resulting in severe degradation of the HCKF. To improve the navigational accuracy of the spacecraft in these situations, the authors propose a novel adaptive robust HCKF known as variational Bayesian (VB) adaptive high-degree cubature Huber-based filter (VB-AHCHF). In the novel algorithm, the fifth-degree cubature rule and VB theory are combined to estimate the state and track the non-stationary statistical characteristics of the measurement noise. In addition, utilising the M-estimation, which is defined as the Huber technique, it modifies the update step of the formal Bayesian filtering. Therefore, the VB-AHCHF can exhibit adaptability and robustness to the covariance uncertainty and non-Gaussianity of the measurement noise. Their simulation results show that the estimation accuracy of VB-AHCHF, as well as its adaptability and robustness, is superior to all state-of-the-art algorithms, e.g. HCKF, high-degree cubature Huber-based filter, and the VB adaptive HCKF.

中文翻译：

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基于变分贝叶斯自适应高级培养皿的基于Huber的滤波器，用于小行星飞行任务的视觉辅助惯性导航

视觉辅助惯性导航（VAIN）是一种在小行星飞行任务中确定航天器姿态的前瞻性技术。VAIN系统可以通过使用高级容积卡尔曼滤波器（HCKF）融合惯性和视觉数据，因为它可以准确地处理非线性问题。但是，视觉测量可能会因未知时变协方差的非高斯噪声而损坏，从而导致HCKF严重退化。为了提高在这种情况下航天器的导航精度，作者提出了一种新颖的自适应鲁棒HCKF，称为变分贝叶斯（VB）自适应高阶休伯基于Huber的滤波器（VB-AHCHF）。在新颖的算法中 结合五度孵化规则和VB理论估计状态并跟踪测量噪声的非平稳统计特性。此外，利用定义为Huber技术的M估计，可以修改形式贝叶斯过滤的更新步骤。因此，VB-AHCHF可以显示出对测量噪声的协方差不确定性和非高斯性的适应性和鲁棒性。他们的仿真结果表明，VB-AHCHF的估计精度及其适应性和鲁棒性优于所有最新技术，例如HCKF，基于高保度Huber的滤波器和VB自适应HCKF。VB-AHCHF可以表现出对测量噪声的协方差不确定性和非高斯性的适应性和鲁棒性。他们的仿真结果表明，VB-AHCHF的估计精度及其适应性和鲁棒性优于所有最新技术，例如HCKF，基于高保度Huber的滤波器和VB自适应HCKF。VB-AHCHF可以表现出对测量噪声的协方差不确定性和非高斯性的适应性和鲁棒性。他们的仿真结果表明，VB-AHCHF的估计精度及其适应性和鲁棒性优于所有最新技术，例如HCKF，基于高保度Huber的滤波器和VB自适应HCKF。