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To address the accuracy degradation of the Kalman filter (KF) algorithm defined in quaternion space under non-Gaussian noise, the advantages of mixture correntropy is utilized to handle such problem. A recursive quaternion mixture correntropy cost function is defined and the posterior estimation through fixed-point iteration is obtained, resulting in the maximum mixture correntropy quaternion KF (MMCQKF) algorithm. Additionally, the variational Bayesian method is introduced to adaptively update the nominal measurement noise variance matrix, leading to the adaptive MMCQKF, which further improves state estimation accuracy in complex scenarios. Simulation results for target tracking in challenging noise environments show that the root mean square error of position estimation using the proposed algorithm is reduced by approximately 53.2% compared to the maximum correntropy quaternion KF. Furthermore, integrated navigation experiments conducted in complex non-Gaussian noise environments reveal that the error in attitude angle, velocity, and position achieved by the proposed algorithm are reduced by 70.6%, 59.1% and 73.1%, respectively, compared to the maximum correntropy quaternion KF. Experiments demonstrate the significant improvement in estimation accuracy and adaptive capability of the proposed algorithm.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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