Robust Unsupervised clustering METHOD FOR ESTIMATING ANALYTIC WEIGHT LEAST SQURARES BASED ON ROBUST FILTER UNSUPERVISED CLUSTERING

摘要

An analytical weight least squares location estimation technique based on robust filters and unsupervised clusters is disclosed. A location estimation method performed by a location estimation apparatus according to an embodiment includes: performing unsupervised learning on an observation value obtained by estimating location information using a Gaussian mixture model; Deriving the weight as the unsupervised learning is performed; And estimating a positional parameter using a least-squares method based on the weight.