{"id":"https://openalex.org/W3016850661","doi":"https://doi.org/10.1109/tcst.2019.2952529","title":"Outlier Accommodation in Nonlinear State Estimation: A Risk-Averse Performance- Specified Approach","display_name":"Outlier Accommodation in Nonlinear State Estimation: A Risk-Averse Performance- Specified Approach","publication_year":2020,"publication_date":"2020-04-13","ids":{"openalex":"https://openalex.org/W3016850661","doi":"https://doi.org/10.1109/tcst.2019.2952529","mag":"3016850661"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2952529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2952529","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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":"https://openalex.org/A5062177559","display_name":"Elahe Aghapour","orcid":"https://orcid.org/0000-0002-8218-6704"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Elahe Aghapour","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046773308","display_name":"Farzana Rahman","orcid":"https://orcid.org/0000-0002-5593-7242"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farzana Rahman","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084884757","display_name":"Jay A. Farrell","orcid":"https://orcid.org/0000-0002-2077-8691"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jay A. Farrell","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062177559"],"corresponding_institution_ids":["https://openalex.org/I103635307"],"apc_list":null,"apc_paid":null,"fwci":0.5889,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.65761545,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"29","issue":"2","first_page":"567","last_page":"579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9975000023841858,"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/T11871","display_name":"Advanced Statistical Methods and Models","score":0.9940000176429749,"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":0.7910581827163696},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6577048301696777},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.6536683440208435},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5599868893623352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5509397983551025},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4942226707935333},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.46280354261398315},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.43903273344039917},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41141200065612793},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3523697853088379},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.35222354531288147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2632644772529602},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25794482231140137},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.16227290034294128}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7910581827163696},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6577048301696777},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.6536683440208435},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5599868893623352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5509397983551025},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4942226707935333},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.46280354261398315},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.43903273344039917},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41141200065612793},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3523697853088379},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.35222354531288147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2632644772529602},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25794482231140137},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.16227290034294128},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/tcst.2019.2952529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2952529","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1472169463","display_name":null,"funder_award_id":"IIS-1316934","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W592904438","https://openalex.org/W1533179050","https://openalex.org/W1971793436","https://openalex.org/W1979154650","https://openalex.org/W1980275558","https://openalex.org/W1991172434","https://openalex.org/W1997713206","https://openalex.org/W2017470165","https://openalex.org/W2026702887","https://openalex.org/W2035096367","https://openalex.org/W2050968963","https://openalex.org/W2053156634","https://openalex.org/W2060668483","https://openalex.org/W2063559670","https://openalex.org/W2090542292","https://openalex.org/W2100729440","https://openalex.org/W2118223742","https://openalex.org/W2119262239","https://openalex.org/W2121699695","https://openalex.org/W2129732816","https://openalex.org/W2136849651","https://openalex.org/W2140244902","https://openalex.org/W2140529724","https://openalex.org/W2162513948","https://openalex.org/W2164755285","https://openalex.org/W2169207653","https://openalex.org/W2171230839","https://openalex.org/W2215091013","https://openalex.org/W2331052961","https://openalex.org/W2512217521","https://openalex.org/W2807556815","https://openalex.org/W2886935010","https://openalex.org/W2912461455","https://openalex.org/W2914393613","https://openalex.org/W2963005128","https://openalex.org/W2963865233","https://openalex.org/W3022296623","https://openalex.org/W3045153201","https://openalex.org/W6673135731","https://openalex.org/W6677871018"],"related_works":["https://openalex.org/W2499612753","https://openalex.org/W3111802945","https://openalex.org/W2946096271","https://openalex.org/W2295423552","https://openalex.org/W3107369729","https://openalex.org/W2900391131","https://openalex.org/W1990207062","https://openalex.org/W1657752397","https://openalex.org/W3185162478","https://openalex.org/W1633787648"],"abstract_inverted_index":{"This":[0,156,195],"article":[1,157,181,196],"presents":[2],"a":[3,45,50,62,140,146,188,220],"novel":[4],"state":[5,22,31,107,114,131,218],"estimation":[6,132],"approach":[7,168],"to":[8,55,74,83,138,170,215],"the":[9,17,28,75,93,106,113,161,192,202,217,228],"challenge":[10],"of":[11,21,30,142,153,179,191,219],"preventing":[12],"outlier":[13,33,42,120,154,165],"measurements":[14,90,143,214],"from":[15],"affecting":[16],"accuracy":[18],"and":[19,57,108,115,159,173,212],"reliability":[20],"estimation.":[23],"Since":[24],"outliers":[25],"can":[26],"degrade":[27],"performance":[29,87,147,224],"estimation,":[32],"accommodation":[34,43],"is":[35,182,225],"critical.":[36],"The":[37,167,176,222],"most":[38],"common":[39],"method":[40],"for":[41,164,201],"utilizes":[44],"Neyman-Pearson":[46],"(NP)-type":[47],"test":[48,95],"in":[49,100],"(extended)":[51],"Kalman":[52],"filter":[53],"(KF)":[54],"detect":[56],"remove":[58],"residuals":[59,71],"greater":[60],"than":[61],"designer":[63],"specified":[64],"threshold.":[65],"Such":[66],"threshold-based":[67],"methods":[68],"may":[69,122],"use":[70],"arbitrarily":[72],"close":[73],"threshold,":[76],"even":[77],"when":[78],"they":[79],"are":[80,117,187],"not":[81],"needed":[82],"achieve":[84],"an":[85,135],"application's":[86],"specification.":[88],"Outlier":[89],"that":[91,144,205],"pass":[92],"residual":[94],"(i.e.,":[96],"missed":[97],"detections)":[98],"result":[99],"incorrect":[101],"information":[102],"being":[103],"incorporated":[104],"into":[105],"error":[109],"covariance":[110,116],"estimates.":[111],"Once":[112],"incorrect,":[118,124],"subsequent":[119],"decisions":[121],"be":[123],"possibly":[125],"causing":[126],"divergence.":[127],"Risk-averse":[128],"performance-specified":[129],"(RAPS)":[130],"works":[133],"within":[134],"optimization":[136],"setting":[137],"choose":[139],"set":[141],"achieves":[145],"specification":[148],"with":[149,227],"(locally)":[150],"minimum":[151],"risk":[152],"inclusion.":[155],"derives":[158],"formulates":[160],"RAPS":[162,198,223],"solution":[163],"accommodation.":[166],"applies":[169],"both":[171],"linear":[172],"nonlinear":[174,183,203],"applications.":[175,184],"main":[177],"focus":[178],"this":[180],"Linear":[185],"applications":[186],"special":[189],"case":[190],"results":[193,200],"herein.":[194],"contains":[197],"implementation":[199],"application":[204],"uses":[206],"global":[207],"navigation":[208],"satellite":[209],"systems":[210],"(GNSSs)":[211],"inertial":[213],"estimate":[216],"vehicle.":[221],"compared":[226],"traditional":[229],"NP-EKF.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}
