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Open Access Publications from the University of California

Technical note with Supporting Results forOutlier Accommodation Nonlinear State Estimation:A Risk-Averse Performance-Specified Approach

  • Author(s): Aghapour, Elahe
  • Rahman, Farzana
  • Farrell, Jay
  • et al.

This tech note extends the discussion of the numericalresults in [1]. The main article should be read first. Thatarticle presents RAPS for nonlinear applications; therefore,linear systems are a special case. This technical note includesnumerical results specific to linear systems that did not fitwithin the journal page constraints. Section I briefly introduceslinear system mode model. Section III studies the performanceof the binary RAPS approach for vehicle state estimation. Thelinear application is referred to in the GNSS literature as a PVAmodel wherein the GNSS measurements are used to estimatethe position, velocity, and acceleration of the GNSS antenna.Such estimators are included in almost all GNSS receivers.

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