Figure 8

Influence functions for range updates for $\mathbf{\parallel }{\widehat{\mathbf{z}}}_{\mathbf{1}}\mathbf{\parallel }\mathbf{=}\mathbf{10}$ m. The different functions correspond to the suggested method (blue solid/dashed lines) and a traditional Kalman measurement update (red dashed-dotted/dotted lines) with${\mathbf{P}}_{z_1}=\mathbf{I}$ m² and${\mathbf{P}}_{z_1}=0.3\mathbf{I}$ m², respectively. For the suggested update, γ _r  = 2 m and v ₂ were Cauchy distributed with σ _r  = 0.5 m, and for the Kalman measurement update, the measurement error variance was 1 m².