Kalman filter restraining outliers for short baseline system

In short baseline underwater acoustic positioning system, the outliers will be included in measurement data because of noise and multi-path channel environment. In this paper, we introduce a modified Kalman filter that can perform robust based on innovation variance, this method solves the problem of filtering divergence effectively by modifying the supplement matrix. Finally the processing result of the experiment data in lake is given. The experiment result indicates that using the method can be efficiently a smooth processing to the localization result.