![]() In the process of its construction, operation, and maintenance, there are a variety of tasks to be carried out. The space station is a bridgehead for human space exploration missions. The results validated the feasibility of the proposed method with the target tracking precision improved significantly in complex non-Gaussian environment. Then, the algorithm has been applied in the maintenance experiments in TianGong-2 space laboratory of China. ![]() The performance of the proposed algorithm has been evaluated by simulations and the ground experiments. A parameter automatic selection algorithm is proposed to determine the shape parameter of GMCKF algorithm, which helps the GMCKF algorithm achieve better performance for complex non-Gaussian noise. The GMCKF algorithm, which replaces the default Gaussian kernel with the generalized Gaussian density function as kernel, can adapt to multi-type non-Gaussian noises and evaluate the noise accurately. In the paper, a novel Kalman Filter algorithm with Generalized Maximum Correntropy Criterion (GMCKF) is proposed to improve the tracking accuracy with non-Gaussian noise. ![]() And the performance of traditional Kalman Filter will deteriorate seriously when the error signals are non-Gaussian, which may lead to mission failure. However, the special space environment may cause complex non-Gaussian noise in target tracking data. Target tracking plays an important role in the construction, operation, and maintenance of the space station by the robot, which puts forward high requirements on the accuracy of target tracking. ![]()
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