Title: Adaptive cubature quadrature Kalman filter for nonlinear state estimation with one step randomly delayed measurements

Authors: Sri Mannarayana Poluri; Aritro Dey

Addresses: Department of Electrical Engineering, National Institute of Technology, Durgapur, Durgapur, 713209, West Bengal, India ' Department of Electrical Engineering, National Institute of Technology, Durgapur, Durgapur, 713209, West Bengal, India

Abstract: This paper proposes an adaptive cubature quadrature Kalman filter for one-step randomly delayed measurements (ACQKFRD), which is capable of handling critical situations when the system suffers from unknown parameter variations. The proposed filter automatically tunes the unknown element of process noise covariance related to the uncertain parameter using an adaptation algorithm based on maximum-likelihood estimation (MLE). The proposed filter has been validated in simulation with the help of two significant nonlinear case studies. Monte Carlo (MC) simulation demonstrates the efficacy and consistency of the proposed filter.

Keywords: adaptation; aircraft tracking; Bayesian filter; cubature quadrature Kalman filter; one-step randomly delayed measurement; nonlinear filtering; process noise covariance.

DOI: 10.1504/IJMIC.2021.120217

International Journal of Modelling, Identification and Control, 2021 Vol.37 No.2, pp.140 - 152

Received: 05 Oct 2020
Accepted: 18 Jan 2021
Published online: 11 Jan 2022 *

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