Interacting Multiple Model Adaptive Robust Kalman Filter for Position Estimation for Swarm Drones under Hybrid Noise Conditions

ABSTRACT: This study evaluates the Interacting Multiple Model Adaptive Robust Kalman Filter (IMM-ARKF) for accurate position estimation in a leader-follower swarm of nine drones, consisting of one leader and eight followers following distinct trajectories. The evaluation is conducted under hybrid noise conditions combining Gaussian and Student’s t-distributions at 10%, 30%, and 50% ratios. The IMM-ARKF, which relies solely on its adaptive robust filtering mechanism, is compared with standard Interacting Multiple Model Kalman Filter (IMM-KF) and Extended Kalman Filter (IMM-EKF) methods. Simulations show that IMM-ARKF provides better accuracy, reducing root mean square error (RMSE) by up to 43.9% compared to IMM-EKF and 34.9% compared to IMM-KF across different noise conditions, due to its ability to adapt to hybrid noise. However, this improved performance comes with a computational cost, increasing processing time by up to 148% compared to IMM-EKF and 92.1% compared to IMM-KF, reflecting the complexity of its adaptive approach. These results demonstrate the effectiveness of IMM-ARKF in enhancing navigation accuracy and robustness for multi-drone systems in challenging environments.