Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

<div class="floats-full-page floats-full-page-other"><h2>Table 5</h2><div class="floats-full-page-caption"><div>MSEs of <svg height="9.14241pt" id="M300" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 12.2751 9.14241" width="12.2751pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg> and <svg height="9.14241pt" id="M301" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 12.2751 9.14241" width="12.2751pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg> with different <svg height="6.1673pt" id="M302" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.51131 6.1673" width="7.51131pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M545 106L524 126C493 85 467 65 455 65C438 65 427 113 405 238C448 295 498 362 543 439L533 448L478 435C453 386 423 331 398 295H395C370 404 347 448 282 448C169 448 23 309 23 153C23 54 65 -12 128 -12C203 -12 283 70 339 155H341C360 29 380 -12 411 -12C444 -12 491 11 545 106ZM333 204C265 95 210 54 169 54C137 54 113 96 113 171C113 302 191 405 252 405C301 405 318 306 333 204Z"></path></g></svg> when <span class="nowrap"><svg height="12.3393pt" id="M303" style="vertical-align:-3.05097pt" version="1.1" viewbox="-0.0498162 -9.28833 107.826 12.3393" width="107.826pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M686 28C612 35 607 44 591 112C563 234 541 360 519 489L489 666L457 658L147 121C100 40 89 36 24 28L17 0H240L250 28C168 34 159 41 190 101L262 237H482C495 180 503 137 510 91C517 47 514 35 441 28L433 0H677L686 28ZM475 280H285L429 541H431L475 280Z"></path></g><g transform="matrix(.013,0,0,-0.013,9.135,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,13.633,0)"><path d="M480 416C480 431 465 448 438 448C388 448 312 383 252 330C217 299 188 273 155 237H153L257 680C262 700 263 712 253 712C240 712 183 684 97 674L92 648L126 647C166 646 172 645 163 606L23 -6L29 -12C51 -5 77 2 107 8C115 62 130 128 142 180C153 193 179 220 204 241C231 170 259 106 288 54C317 0 336 -12 358 -12C381 -12 423 2 477 80L460 100C434 74 408 54 398 54C385 54 374 65 351 107C326 154 282 241 263 299C296 332 351 377 403 377C424 377 436 372 445 368C449 366 456 368 462 375C472 386 480 402 480 416Z"></path></g><g transform="matrix(.013,0,0,-0.013,20.172,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g><g transform="matrix(.013,0,0,-0.013,28.302,0)"><path d="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g><g transform="matrix(.013,0,0,-0.013,39.565,0)"><path d="M512 180C494 129 475 97 457 77C433 50 397 43 354 43C323 43 297 45 279 52C259 61 255 78 255 125V516C255 602 264 608 340 615V650H35V615C111 608 121 602 121 516V133C121 48 111 42 24 35V0H511C519 27 540 126 548 169L512 180Z"></path></g><g transform="matrix(.013,0,0,-0.013,46.755,0)"><path d="M465 45L455 77C444 72 433 69 421 69C404 69 389 81 389 128V293C389 349 380 392 337 425C310 445 280 454 239 454C182 443 111 409 73 383C51 366 38 353 38 335C38 309 74 285 101 285C121 285 136 293 143 319C151 350 160 374 171 388C180 400 191 406 205 406C241 406 265 371 265 308V278C242 258 165 234 106 212C54 192 30 168 30 116C30 54 81 -12 165 -12C185 -12 232 21 270 46C274 34 281 21 295 9C308 -3 329 -12 356 -12L465 45ZM265 79C249 67 238 63 223 63C200 63 163 84 163 139C163 174 179 192 210 208C231 219 247 229 265 239V79Z"></path></g><g transform="matrix(.013,0,0,-0.013,52.835,0)"><path d="M212 391V464C146 445 80 427 26 418V388C75 381 84 376 84 321V-128C84 -184 80 -192 16 -198V-230H294V-198C216 -191 212 -184 212 -127V0C227 -6 249 -12 274 -12C402 17 517 114 517 261C517 357 454 454 336 454C319 454 301 447 281 435L212 391ZM212 354C229 369 250 378 275 378C324 378 385 333 385 210C385 106 347 38 293 38C268 38 231 59 212 77V354Z"></path></g><g transform="matrix(.013,0,0,-0.013,59.973,0)"><path d="M270 0V32C208 38 203 43 203 110V703C146 688 72 674 15 667V637C70 630 75 628 75 567V110C75 45 70 41 10 32V0H270Z"></path></g><g transform="matrix(.013,0,0,-0.013,63.601,0)"><path d="M465 45L455 77C444 72 433 69 421 69C404 69 389 81 389 128V293C389 349 380 392 337 425C310 445 280 454 239 454C182 443 111 409 73 383C51 366 38 353 38 335C38 309 74 285 101 285C121 285 136 293 143 319C151 350 160 374 171 388C180 400 191 406 205 406C241 406 265 371 265 308V278C242 258 165 234 106 212C54 192 30 168 30 116C30 54 81 -12 165 -12C185 -12 232 21 270 46C274 34 281 21 295 9C308 -3 329 -12 356 -12L465 45ZM265 79C249 67 238 63 223 63C200 63 163 84 163 139C163 174 179 192 210 208C231 219 247 229 265 239V79Z"></path></g><g transform="matrix(.013,0,0,-0.013,69.681,0)"><path d="M399 120C363 89 334 79 292 79S154 123 154 256C154 363 199 401 238 401C266 401 298 385 339 349C348 341 354 338 361 338C378 338 404 364 404 393C405 407 401 419 386 429C369 443 336 454 300 454H299C261 454 196 440 130 392C67 345 29 274 29 201C29 92 109 -12 246 -12C307 -12 372 31 418 96L399 120Z"></path></g><g transform="matrix(.013,0,0,-0.013,75.188,0)"><path d="M400 123C365 93 327 80 288 80C216 80 157 134 153 241C251 245 374 254 392 257C414 260 420 273 421 293C421 375 351 454 258 454H257C203 454 148 427 104 383C62 341 30 278 30 202C30 87 103 -12 237 -12C279 -12 357 8 417 99L400 123ZM237 414C276 414 299 362 298 311C298 294 292 291 277 291C236 290 199 289 157 288C164 367 198 414 237 414Z"></path></g><g transform="matrix(.013,0,0,-0.013,80.89,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,85.388,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,91.628,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><g transform="matrix(.013,0,0,-0.013,96.771,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,103.011,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg>.</span></div></div><div class="floats-full-page-content"><table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr /></td></tr><tr class="thead"><td class="align_left">Filter</td><td class="align_center">MSE of <svg height="9.14241pt" id="M304" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 12.2751 9.14241" width="12.2751pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg></td><td class="align_center">MSE of <svg height="9.14241pt" id="M305" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 12.2751 9.14241" width="12.2751pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg></td></tr><tr><td class="thead-hr" colspan="3"><hr /></td></tr><tr><td class="align_left">KF</td><td class="align_center">0.6825</td><td class="align_center">0.5469</td></tr><tr><td class="align_left">MCKF</td><td class="align_center">0.3375</td><td class="align_center">0.2032</td></tr><tr><td class="align_left">NRSTF</td><td class="align_center">0.3159</td><td class="align_center">0.1983</td></tr><tr><td class="align_left">MSCF</td><td class="align_center">0.5227</td><td class="align_center">0.3481</td></tr><tr><td class="align_left">GMCKF (<span class="nowrap"><svg height="8.55521pt" id="M306" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -8.34882 50.4633 8.55521" width="50.4633pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M545 106L524 126C493 85 467 65 455 65C438 65 427 113 405 238C448 295 498 362 543 439L533 448L478 435C453 386 423 331 398 295H395C370 404 347 448 282 448C169 448 23 309 23 153C23 54 65 -12 128 -12C203 -12 283 70 339 155H341C360 29 380 -12 411 -12C444 -12 491 11 545 106ZM333 204C265 95 210 54 169 54C137 54 113 96 113 171C113 302 191 405 252 405C301 405 318 306 333 204Z"></path></g><g transform="matrix(.013,0,0,-0.013,11.017,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.28,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,28.52,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z"></path></g><g transform="matrix(.013,0,0,-0.013,31.484,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,37.724,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,43.964,0)"><path d="M137 343C167 482 260 545 321 574C357 591 397 603 429 609L423 641C382 634 335 622 295 608C189 570 37 457 37 238C37 84 125 -12 242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 189 337 227 337Z"></path></g></svg>)</span></td><td class="align_center"><b>0.2923</b></td><td class="align_center"><b>0.1835</b></td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr" /></td></tr></table></td></tr></table></div></div>

Table 5 | Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

title

Table 5: Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

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Table 5

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Open Access journal Space: Science & Technology, published in association with BIT, promotes the interplay of science and technology for the benefit of all application domains of space activities. It particularly welcomes articles illustrating successful synergies in space programs and missions.