Autonomous navigation: on issues concerning measurement uncertainty
John Stephen Mullane · 2009
4.4 The Discrete GBRM Filter: Detection Measurements 69 4.4.1 Filter Comparison using Ideal Measurements Likelihoods ... 72 4.4.2 Measurement Equation for Imaging Radar 76 4.5 Discrete GBRM Filter Implementations 79 4.5.1 Probabilistic Vector Measurements 79 4.5.2 Evidential Vector Measurements 81 4.5.2.1 Unknown Measurement 82 4.5.2.2 The Filter Recursion 83 4.6 The Continuous GBRM Filter 84 4.6.1 Problem Formulation 84 4.6.2 Particle Filter Implementation 87 4.7 Discrete Implementation Experiments 88 4.7.1 The Probabilistic Implementation 90 4.7.2 The Evidential Implementation 4.8 Continuous Implementation Experiments 94 4.8.1 Synthetic Data 96 4.8.