Robust Kalman filtering for nonlinear multivariable stochastic systems in the presence of non‐Gaussian noise |
| |
Authors: | Vladimir Stojanovic Novak Nedic |
| |
Affiliation: | Faculty of Mechanical and Civil Engineering in Kraljevo, Department of Automatic Control, Robotics and Fluid Technique, University of Kragujevac, Kraljevo, Serbia |
| |
Abstract: | The presence of outliers can considerably degrade the performance of linear recursive algorithms based on the assumptions that measurements have a Gaussian distribution. Namely, in measurements there are rare, inconsistent observations with the largest part of population of observations (outliers). Therefore, synthesis of robust algorithms is of primary interest. The Masreliez–Martin filter is used as a natural frame for realization of the state estimation algorithm of linear systems. Improvement of performances and practical values of the Masreliez‐Martin filter as well as the tendency to expand its application to nonlinear systems represent motives to design the modified extended Masreliez–Martin filter. The behaviour of the new approach to nonlinear filtering, in the case when measurements have non‐Gaussian distributions, is illustrated by intensive simulations. Copyright © 2015 John Wiley & Sons, Ltd. |
| |
Keywords: | extended Kalman filter stochastic nonlinear systems non‐Gaussian noise robust filtering |
|
|