{"id":"https://openalex.org/W3016056009","doi":"https://doi.org/10.1109/access.2020.2986022","title":"Maximum Correntropy Square-Root Cubature Kalman Filter for Non-Gaussian Measurement Noise","display_name":"Maximum Correntropy Square-Root Cubature Kalman Filter for Non-Gaussian Measurement Noise","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3016056009","doi":"https://doi.org/10.1109/access.2020.2986022","mag":"3016056009"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2986022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2986022","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09057702.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09057702.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101471216","display_name":"Jingjing He","orcid":"https://orcid.org/0000-0002-7615-1708"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjing He","raw_affiliation_strings":["State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7615-1708","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101563174","display_name":"Changku Sun","orcid":"https://orcid.org/0000-0001-7775-0588"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I4210120442","display_name":"AVIC Optronics (China)","ror":"https://ror.org/0338ntq56","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210120442"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changku Sun","raw_affiliation_strings":["Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optical Equipment, Luoyang, China","State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optical Equipment, Luoyang, China","institution_ids":["https://openalex.org/I4210120442"]},{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091221553","display_name":"Baoshang Zhang","orcid":"https://orcid.org/0000-0002-7034-8139"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I4210120442","display_name":"AVIC Optronics (China)","ror":"https://ror.org/0338ntq56","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210120442"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoshang Zhang","raw_affiliation_strings":["Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optical Equipment, Luoyang, China","State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optical Equipment, Luoyang, China","institution_ids":["https://openalex.org/I4210120442"]},{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023719589","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-4428-0599"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I4210120442","display_name":"AVIC Optronics (China)","ror":"https://ror.org/0338ntq56","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210120442"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optical Equipment, Luoyang, China","State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Electro-Optic Control Laboratory, Luoyang Institute of Electro-Optical Equipment, Luoyang, China","institution_ids":["https://openalex.org/I4210120442"]},{"raw_affiliation_string":"State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.9556,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.88962464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"70162","last_page":"70170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7091109752655029},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5916163325309753},{"id":"https://openalex.org/keywords/square-root","display_name":"Square root","score":0.522926926612854},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.5091065764427185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.48677846789360046},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.48030370473861694},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4753931760787964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.475288987159729},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47128620743751526},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47027379274368286},{"id":"https://openalex.org/keywords/minimum-mean-square-error","display_name":"Minimum mean square error","score":0.45513665676116943},{"id":"https://openalex.org/keywords/univariate","display_name":"Univariate","score":0.4433370530605316},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4289235472679138},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.27890998125076294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1600835919380188},{"id":"https://openalex.org/keywords/multivariate-statistics","display_name":"Multivariate statistics","score":0.07530376315116882}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7091109752655029},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5916163325309753},{"id":"https://openalex.org/C11577676","wikidata":"https://www.wikidata.org/wiki/Q134237","display_name":"Square root","level":2,"score":0.522926926612854},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.5091065764427185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.48677846789360046},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.48030370473861694},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4753931760787964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.475288987159729},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47128620743751526},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47027379274368286},{"id":"https://openalex.org/C90652560","wikidata":"https://www.wikidata.org/wiki/Q11091747","display_name":"Minimum mean square error","level":3,"score":0.45513665676116943},{"id":"https://openalex.org/C199163554","wikidata":"https://www.wikidata.org/wiki/Q1681619","display_name":"Univariate","level":3,"score":0.4433370530605316},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4289235472679138},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.27890998125076294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1600835919380188},{"id":"https://openalex.org/C161584116","wikidata":"https://www.wikidata.org/wiki/Q1952580","display_name":"Multivariate statistics","level":2,"score":0.07530376315116882},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2986022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2986022","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09057702.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:36faad7c93534bc6ad14491401f8b17e","is_oa":true,"landing_page_url":"https://doaj.org/article/36faad7c93534bc6ad14491401f8b17e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 70162-70170 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2986022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2986022","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09057702.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4045348466","display_name":null,"funder_award_id":"ASFC-20175148006","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G7432294929","display_name":null,"funder_award_id":"NSFC-51875407","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8431463480","display_name":null,"funder_award_id":"51875407","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3016056009.pdf","grobid_xml":"https://content.openalex.org/works/W3016056009.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1550377412","https://openalex.org/W1966184693","https://openalex.org/W2042688433","https://openalex.org/W2054091988","https://openalex.org/W2054289217","https://openalex.org/W2055601837","https://openalex.org/W2072035745","https://openalex.org/W2095376999","https://openalex.org/W2096595658","https://openalex.org/W2098392733","https://openalex.org/W2111602959","https://openalex.org/W2113748513","https://openalex.org/W2143737806","https://openalex.org/W2513248895","https://openalex.org/W2523327093","https://openalex.org/W2528325063","https://openalex.org/W2532146065","https://openalex.org/W2613225548","https://openalex.org/W2759375001","https://openalex.org/W2767087800","https://openalex.org/W2770746583","https://openalex.org/W2772311897","https://openalex.org/W2782452832","https://openalex.org/W2806131213","https://openalex.org/W2809795075","https://openalex.org/W2896569940","https://openalex.org/W2944626094","https://openalex.org/W2944983165","https://openalex.org/W2963134661","https://openalex.org/W2972053095","https://openalex.org/W2979693204","https://openalex.org/W4230624888","https://openalex.org/W6674903482"],"related_works":["https://openalex.org/W1828158523","https://openalex.org/W2047547195","https://openalex.org/W204175656","https://openalex.org/W2803255289","https://openalex.org/W1512294453","https://openalex.org/W2170162231","https://openalex.org/W2000145235","https://openalex.org/W2055125872","https://openalex.org/W2485317579","https://openalex.org/W2550047666"],"abstract_inverted_index":{"Cubature":[0],"Kalman":[1,32,77,108],"filter":[2,33,78,109],"(CKF)":[3],"is":[4,46,82,91,117,150],"widely":[5],"used":[6,175],"for":[7],"non-linear":[8],"state":[9,65],"estimation":[10,16],"under":[11],"Gaussian":[12,130],"noise.":[13,26,88,143],"However,":[14],"the":[15,40,49,53,64,72,85,94,129,140,147,158,178,182],"performance":[17,180],"may":[18],"degrade":[19],"greatly":[20],"in":[21],"presence":[22],"of":[23,55,63,74,122,181],"heavy-tailed":[24,86,141],"measurement":[25,43,87,142,172],"Recently,":[27],"maximum":[28,104,134],"correntropy":[29,105,135],"square-root":[30,50,75,106],"cubature":[31,76,107],"(MCSCKF)":[34],"has":[35],"been":[36],"proposed":[37,148,183],"to":[38,93,127,138,145,176],"enhance":[39],"robustness":[41],"against":[42,84],"outliers.":[44],"As":[45],"generally":[47],"known,":[48],"algorithms":[51],"have":[52],"benefit":[54],"low":[56],"computational":[57],"complexity":[58],"and":[59,133,153,166],"guaranteed":[60],"positive":[61],"semi-definiteness":[62],"covariances.":[66],"Therefore,":[67],"MCSCKF":[68,90],"not":[69],"only":[70],"possesses":[71],"advantages":[73],"(SCKF),":[79],"but":[80],"also":[81],"robust":[83],"Nevertheless,":[89],"prone":[92],"numerical":[95,159],"problems.":[96],"In":[97],"this":[98],"paper,":[99],"we":[100],"propose":[101],"a":[102,113,120,167],"new":[103],"(NMCSCKF)":[110],"based":[111],"on":[112],"cost":[114],"function":[115],"which":[116],"obtained":[118],"by":[119],"combination":[121],"weighted":[123],"least":[124],"squares":[125],"(WLS)":[126],"handle":[128,139],"process":[131],"noise":[132],"criterion":[136],"(MCC)":[137],"Compared":[144],"MCSCKF,":[146],"method":[149],"more":[151],"time-efficient":[152],"most":[154],"importantly,":[155],"it":[156],"avoids":[157],"problem.":[160],"A":[161],"univariate":[162],"non-stationary":[163],"growth":[164],"model":[165,173],"multi-rate":[168],"vision/IMU":[169],"integrated":[170],"attitude":[171],"are":[174],"demonstrate":[177],"superior":[179],"method.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}