{"id":"https://openalex.org/W2737188128","doi":"https://doi.org/10.1109/tac.2017.2730480","title":"A Novel Adaptive Kalman Filter With Inaccurate Process and Measurement Noise Covariance Matrices","display_name":"A Novel Adaptive Kalman Filter With Inaccurate Process and Measurement Noise Covariance Matrices","publication_year":2017,"publication_date":"2017-09-05","ids":{"openalex":"https://openalex.org/W2737188128","doi":"https://doi.org/10.1109/tac.2017.2730480","mag":"2737188128"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2017.2730480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2017.2730480","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/A_Novel_Adaptive_Kalman_Filter_with_Inaccurate_Process_and_Measurement_Noise_Covariance_Matrices/10197092","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yulong Huang","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383751","display_name":"Yonggang Zhang","orcid":"https://orcid.org/0000-0003-4548-1111"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonggang Zhang","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101842959","display_name":"Zhemin Wu","orcid":"https://orcid.org/0000-0002-0280-2918"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhemin Wu","raw_affiliation_strings":["School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100368975","display_name":"Ning Li","orcid":"https://orcid.org/0000-0001-8146-4015"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Li","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083892296","display_name":"Jonathon A. Chambers","orcid":"https://orcid.org/0000-0002-5820-6509"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jonathon Chambers","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin, China","School of Electrical and Electronic Engineering, Newcastle University, Newcastle upon Tyne, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Newcastle University, Newcastle upon Tyne, U.K","institution_ids":["https://openalex.org/I84884186"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091074416"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":27.2319,"has_fulltext":false,"cited_by_count":660,"citation_normalized_percentile":{"value":0.99637092,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"63","issue":"2","first_page":"594","last_page":"601"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9921000003814697,"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/T11236","display_name":"Control Systems and Identification","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/covariance-intersection","display_name":"Covariance intersection","score":0.7413723468780518},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.7123371362686157},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6974570155143738},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.552903950214386},{"id":"https://openalex.org/keywords/estimation-of-covariance-matrices","display_name":"Estimation of covariance matrices","score":0.5527377724647522},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.49681356549263},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.478056937456131},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4732775390148163},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4658665657043457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45048120617866516},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.449523389339447},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4477991461753845},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44575241208076477},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.44269415736198425},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.4385238289833069},{"id":"https://openalex.org/keywords/noise-measurement","display_name":"Noise measurement","score":0.43115752935409546},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.4256516396999359},{"id":"https://openalex.org/keywords/wishart-distribution","display_name":"Wishart distribution","score":0.4131462275981903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.272103488445282},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.16469520330429077},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.13434278964996338},{"id":"https://openalex.org/keywords/multivariate-statistics","display_name":"Multivariate statistics","score":0.09139710664749146}],"concepts":[{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.7413723468780518},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.7123371362686157},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6974570155143738},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.552903950214386},{"id":"https://openalex.org/C180877172","wikidata":"https://www.wikidata.org/wiki/Q5401390","display_name":"Estimation of covariance matrices","level":3,"score":0.5527377724647522},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.49681356549263},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.478056937456131},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4732775390148163},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4658665657043457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45048120617866516},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.449523389339447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4477991461753845},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44575241208076477},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.44269415736198425},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.4385238289833069},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.43115752935409546},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.4256516396999359},{"id":"https://openalex.org/C33962027","wikidata":"https://www.wikidata.org/wiki/Q1930697","display_name":"Wishart distribution","level":3,"score":0.4131462275981903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.272103488445282},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.16469520330429077},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.13434278964996338},{"id":"https://openalex.org/C161584116","wikidata":"https://www.wikidata.org/wiki/Q1952580","display_name":"Multivariate statistics","level":2,"score":0.09139710664749146},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tac.2017.2730480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2017.2730480","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:eprint.ncl.ac.uk:239604","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402485","display_name":"Newcastle University ePrints (Newcastle Univesity)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I84884186","host_organization_name":"Newcastle University","host_organization_lineage":["https://openalex.org/I84884186"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:figshare.com:article/10197092","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Novel_Adaptive_Kalman_Filter_with_Inaccurate_Process_and_Measurement_Noise_Covariance_Matrices/10197092","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:lra.le.ac.uk:2381/43820","is_oa":true,"landing_page_url":"http://hdl.handle.net/2381/43820","pdf_url":null,"source":{"id":"https://openalex.org/S4306402365","display_name":"Leicester Research Archive (University of Leicester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I153648349","host_organization_name":"University of Leicester","host_organization_lineage":["https://openalex.org/I153648349"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/10197092","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Novel_Adaptive_Kalman_Filter_with_Inaccurate_Process_and_Measurement_Noise_Covariance_Matrices/10197092","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1271400461","display_name":null,"funder_award_id":"F2016008","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G2613986417","display_name":null,"funder_award_id":"61633008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3980354054","display_name":null,"funder_award_id":"61773133","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5923144259","display_name":null,"funder_award_id":"EP/K014307/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6485023388","display_name":"Signal Processing Solutions for the Networked Battlespace","funder_award_id":"EP/K014307/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7219166536","display_name":null,"funder_award_id":"EP/K014307/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W794239199","https://openalex.org/W1663973292","https://openalex.org/W1973260008","https://openalex.org/W1991286145","https://openalex.org/W2000721204","https://openalex.org/W2005596676","https://openalex.org/W2009086942","https://openalex.org/W2038889147","https://openalex.org/W2048312361","https://openalex.org/W2062100941","https://openalex.org/W2088735810","https://openalex.org/W2094385794","https://openalex.org/W2095376999","https://openalex.org/W2105139914","https://openalex.org/W2122246449","https://openalex.org/W2143030612","https://openalex.org/W2150449423","https://openalex.org/W2294322297","https://openalex.org/W2395026957","https://openalex.org/W3100152849","https://openalex.org/W6622745955"],"related_works":["https://openalex.org/W2742858738","https://openalex.org/W2380516352","https://openalex.org/W4206024512","https://openalex.org/W2303932580","https://openalex.org/W2034932758","https://openalex.org/W2897870068","https://openalex.org/W2755746976","https://openalex.org/W2164174227","https://openalex.org/W2358090956","https://openalex.org/W2375707005"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,54],"novel":[4],"variational":[5],"Bayesian":[6],"(VB)-based":[7],"adaptive":[8],"Kalman":[9],"filter":[10],"(VBAKF)":[11],"for":[12,53],"linear":[13],"Gaussian":[14],"state-space":[15],"models":[16],"with":[17,35],"inaccurate":[18],"process":[19,71],"and":[20,39,72],"measurement":[21,40,73],"noise":[22,41,74],"covariance":[23,42,75],"matrices":[24,43,76],"is":[25],"proposed.":[26],"By":[27],"choosing":[28],"inverse":[29],"Wishart":[30],"priors,":[31],"the":[32,36,48,60,68],"state":[33],"together":[34],"predicted":[37],"error":[38],"are":[44],"inferred":[45],"based":[46],"on":[47],"VB":[49],"approach.":[50],"Simulation":[51],"results":[52],"target":[55],"tracking":[56],"example":[57],"illustrate":[58],"that":[59],"proposed":[61],"VBAKF":[62],"has":[63],"better":[64],"robustness":[65],"to":[66],"resist":[67],"uncertainties":[69],"of":[70],"than":[77],"existing":[78],"state-of-the-art":[79],"filters.":[80]},"counts_by_year":[{"year":2026,"cited_by_count":22},{"year":2025,"cited_by_count":121},{"year":2024,"cited_by_count":91},{"year":2023,"cited_by_count":96},{"year":2022,"cited_by_count":103},{"year":2021,"cited_by_count":96},{"year":2020,"cited_by_count":63},{"year":2019,"cited_by_count":41},{"year":2018,"cited_by_count":25},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
