2022
DOI: 10.1088/1361-6501/aca172
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A novel maximum correntropy adaptive extended Kalman filter for vehicle state estimation under non-Gaussian noise

Abstract: For vehicle state estimation, conventional Kalman filters work well under Gaussian assumptions. Still, they are likely to degrade dramatically in the practical non-Gaussian situation (especially the noise is heavy-tailed), showing poor accuracy and robustness. This article presents an estimation technique based on the Maximum Correntropy Criterion (MCC) combined with an adaptive extended Kalman filter (AEKF), and an extended Kalman filter (EKF) based on the MCC has also been studied. A lateral-longitudinal cou… Show more

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Cited by 15 publications
(9 citation statements)
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“…The conventional Kalman filter is based on the MMSE criterion and assumes that the noise is Gaussian distributed, which has good performance in a Gaussian environment. However, in actual vehicle operation, the sensor signals are vulnerable to large outliers, and the noises are often heavy-tailed with non-Gaussian characteristics, etc., which degrades the performance of the conventional Kalman filter [ 32 ]. MCC can capture the second- and higher-order moments of the errors and has a strong suppression effect on non-Gaussian noises [ 24 ].…”
Section: Robust Hierarchical Estimation Schemementioning
confidence: 99%
“…The conventional Kalman filter is based on the MMSE criterion and assumes that the noise is Gaussian distributed, which has good performance in a Gaussian environment. However, in actual vehicle operation, the sensor signals are vulnerable to large outliers, and the noises are often heavy-tailed with non-Gaussian characteristics, etc., which degrades the performance of the conventional Kalman filter [ 32 ]. MCC can capture the second- and higher-order moments of the errors and has a strong suppression effect on non-Gaussian noises [ 24 ].…”
Section: Robust Hierarchical Estimation Schemementioning
confidence: 99%
“…Ziegler et al [45] proposed a Kalman filter (KF) estimator to estimate the TM charge, which has high estimation accuracy in a linear system. The KF is a recursive filter that can obtain an optimal estimation of the linear system state by minimizing the mean square error (MSE) of the estimation error [46,47]. It is widely used in automation, positioning, target tracking, communication and signal processing, digital image processing, speech signal processing, earthquake prediction and many other engineering fields [48].…”
Section: Introductionmentioning
confidence: 99%
“…In recent years, the maximum correntropy criterion (MCC) for kernel functions has been successfully applied in the field of robust signal filtering [20]. An adaptive EKF method based on MCC is proposed, which solves the SE problem under heavy tail noise more efficiently [21]. Also based on the improved filtering method of MCC, a SE method that combines MCC with cubature Kalman filtering is proposed where the method also performs well in the presence of abnormal noise in synchronous motors [22].…”
Section: Introductionmentioning
confidence: 99%