{"id":"https://openalex.org/W3128732602","doi":"https://doi.org/10.1109/tac.2021.3056343","title":"An Adaptive Kalman Filter With Inaccurate Noise Covariances in the Presence of Outliers","display_name":"An Adaptive Kalman Filter With Inaccurate Noise Covariances in the Presence of Outliers","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3128732602","doi":"https://doi.org/10.1109/tac.2021.3056343","mag":"3128732602"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3056343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3056343","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Hao Zhu","orcid":"https://orcid.org/0000-0002-9759-3249"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Zhu","raw_affiliation_strings":["Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Department of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Department of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100614428","display_name":"Guorui Zhang","orcid":"https://orcid.org/0000-0002-2600-3918"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guorui Zhang","raw_affiliation_strings":["Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Department of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Department of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100764159","display_name":"Yongfu Li","orcid":"https://orcid.org/0000-0002-7701-8351"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongfu Li","raw_affiliation_strings":["Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Department of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, Department of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061884304","display_name":"Henry Leung","orcid":"https://orcid.org/0000-0002-5984-107X"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Henry Leung","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Calgary, Calgary, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Calgary, Calgary, AB, Canada","institution_ids":["https://openalex.org/I168635309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I10535382"],"apc_list":null,"apc_paid":null,"fwci":10.3592,"has_fulltext":false,"cited_by_count":111,"citation_normalized_percentile":{"value":0.98552599,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"67","issue":"1","first_page":"374","last_page":"381"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T11901","display_name":"Bayesian Methods and Mixture Models","score":0.965499997138977,"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/T12135","display_name":"Fuzzy Systems and Optimization","score":0.9650999903678894,"subfield":{"id":"https://openalex.org/subfields/2613","display_name":"Statistics and Probability"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7803968191146851},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7636886835098267},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5705414414405823},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4727364778518677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4658587574958801},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.4634656012058258},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4542473256587982},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.44126221537590027},{"id":"https://openalex.org/keywords/noise-measurement","display_name":"Noise measurement","score":0.4371856153011322},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.4213992953300476},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.4148979187011719},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.41156670451164246},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40180492401123047},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34784555435180664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2541051506996155},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.24353578686714172},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.13334190845489502}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7803968191146851},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7636886835098267},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5705414414405823},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4727364778518677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4658587574958801},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.4634656012058258},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4542473256587982},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.44126221537590027},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.4371856153011322},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.4213992953300476},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.4148979187011719},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.41156670451164246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40180492401123047},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34784555435180664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2541051506996155},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.24353578686714172},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.13334190845489502},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2021.3056343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3056343","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2221720609","display_name":null,"funder_award_id":"61773082","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3629230283","display_name":null,"funder_award_id":"62073052","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6628824997","display_name":null,"funder_award_id":"U1964202","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1989192434","https://openalex.org/W2042688433","https://openalex.org/W2050114157","https://openalex.org/W2062100941","https://openalex.org/W2087394828","https://openalex.org/W2093516101","https://openalex.org/W2095376999","https://openalex.org/W2103816858","https://openalex.org/W2143030612","https://openalex.org/W2145834063","https://openalex.org/W2152586694","https://openalex.org/W2160337655","https://openalex.org/W2165077360","https://openalex.org/W2170099064","https://openalex.org/W2294322297","https://openalex.org/W2490662969","https://openalex.org/W2572262903","https://openalex.org/W2575097171","https://openalex.org/W2588221994","https://openalex.org/W2615536673","https://openalex.org/W2737188128","https://openalex.org/W2749496335","https://openalex.org/W2791113830","https://openalex.org/W2809327114","https://openalex.org/W2904124013","https://openalex.org/W2944846513","https://openalex.org/W2957708210","https://openalex.org/W2963134661","https://openalex.org/W2972222132","https://openalex.org/W4230624888"],"related_works":["https://openalex.org/W4206024512","https://openalex.org/W2053335193","https://openalex.org/W2394115825","https://openalex.org/W4246354917","https://openalex.org/W2188632562","https://openalex.org/W1996382496","https://openalex.org/W2533888311","https://openalex.org/W2986378528","https://openalex.org/W3178345791","https://openalex.org/W2092661960"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3],"novel":[4],"variational":[5],"Bayesian":[6],"(VB)":[7],"adaptive":[8],"Kalman":[9],"filter":[10],"with":[11,64],"inaccurate":[12,65],"nominal":[13],"process":[14],"and":[15,34,52],"measurement":[16,35],"noise":[17,66],"covariances":[18,67],"(PMNC)":[19],"in":[20,68],"the":[21,50,58,61,69],"presence":[22,70],"of":[23,31,60,71],"outliers":[24,72],"is":[25,46],"proposed.":[26],"The":[27,43],"probability":[28],"density":[29],"functions":[30],"state":[32,51],"transition":[33],"likelihood":[36],"are":[37],"modeled":[38],"as":[39],"Gaussian\u2013Gamma":[40],"mixture":[41],"distributions.":[42],"VB":[44],"inference":[45],"used":[47],"to":[48],"perform":[49],"PMNC":[53],"simultaneously.":[54],"Simulations":[55],"show":[56],"that":[57],"effectiveness":[59],"proposed":[62],"method":[63],"environments.":[73]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":36},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":7}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
