{"id":"https://openalex.org/W3168070935","doi":"https://doi.org/10.1109/tcst.2021.3077535","title":"Robust Extended Kalman Filtering for Systems With Measurement Outliers","display_name":"Robust Extended Kalman Filtering for Systems With Measurement Outliers","publication_year":2021,"publication_date":"2021-05-31","ids":{"openalex":"https://openalex.org/W3168070935","doi":"https://doi.org/10.1109/tcst.2021.3077535","mag":"3168070935"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3077535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3077535","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/A5049358578","display_name":"Huazhen Fang","orcid":"https://orcid.org/0000-0003-4759-1672"},"institutions":[{"id":"https://openalex.org/I146416000","display_name":"University of Kansas","ror":"https://ror.org/001tmjg57","country_code":"US","type":"education","lineage":["https://openalex.org/I146416000"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huazhen Fang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA"],"raw_orcid":"https://orcid.org/0000-0003-4759-1672","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA","institution_ids":["https://openalex.org/I146416000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029030150","display_name":"Mulugeta Haile","orcid":"https://orcid.org/0000-0002-3038-9155"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mulugeta A. Haile","raw_affiliation_strings":["United States Army Research Laboratory, Vehicle Technology Directorate, Aberdeen, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-3038-9155","affiliations":[{"raw_affiliation_string":"United States Army Research Laboratory, Vehicle Technology Directorate, Aberdeen, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044079782","display_name":"Yebin Wang","orcid":"https://orcid.org/0000-0001-7209-7866"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yebin Wang","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7209-7866","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":4.1914,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.94743294,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":100},"biblio":{"volume":"30","issue":"2","first_page":"795","last_page":"802"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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":0.9987000226974487,"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/outlier","display_name":"Outlier","score":0.8625185489654541},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8072789311408997},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6022754311561584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5662429332733154},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5475722551345825},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4873126447200775},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4388713836669922},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.42825770378112793},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4201418161392212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2370130717754364},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19271615147590637}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.8625185489654541},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8072789311408997},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6022754311561584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662429332733154},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5475722551345825},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4873126447200775},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4388713836669922},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.42825770378112793},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4201418161392212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2370130717754364},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19271615147590637},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2021.3077535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3077535","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":[{"display_name":"Industry, innovation and infrastructure","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W618928362","https://openalex.org/W1974964201","https://openalex.org/W2018890348","https://openalex.org/W2036988922","https://openalex.org/W2057575523","https://openalex.org/W2064815138","https://openalex.org/W2068305682","https://openalex.org/W2070898270","https://openalex.org/W2087422142","https://openalex.org/W2095376999","https://openalex.org/W2122053769","https://openalex.org/W2125079402","https://openalex.org/W2131458171","https://openalex.org/W2135528721","https://openalex.org/W2137690751","https://openalex.org/W2142089368","https://openalex.org/W2164522996","https://openalex.org/W2166787100","https://openalex.org/W2171618211","https://openalex.org/W2211436427","https://openalex.org/W2298802167","https://openalex.org/W2310684275","https://openalex.org/W2411532984","https://openalex.org/W2485992890","https://openalex.org/W2491335332","https://openalex.org/W2531569435","https://openalex.org/W2568479698","https://openalex.org/W2768676735","https://openalex.org/W2790374560","https://openalex.org/W2911775428","https://openalex.org/W2963139193","https://openalex.org/W4253856136"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2320550378","https://openalex.org/W4372347353","https://openalex.org/W2020144404","https://openalex.org/W2385286892","https://openalex.org/W2350927655","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"Outliers":[0],"can":[1,45,184],"be":[2],"caused":[3],"by":[4],"sensor":[5],"errors,":[6],"model":[7],"uncertainties,":[8],"changes":[9],"in":[10,150,157],"the":[11,21,30,43,48,60,72,76,81,89,99,109,116,131,151,171,174,181],"ambient":[12],"environment,":[13],"data":[14],"loss,":[15],"or":[16],"malicious":[17],"cyberattacks":[18],"to":[19,37,58,71,79,97,115,136,169,178],"contaminate":[20],"measurement":[22,202],"process":[23,74],"of":[24,108,118,130,146,153,173,188],"many":[25],"nonlinear":[26],"dynamic":[27],"systems.":[28,127],"When":[29],"extended":[31],"Kalman":[32],"filter":[33],"(EKF)":[34],"is":[35,92,139,167],"applied":[36,135],"such":[38],"systems":[39,138],"for":[40,122],"state":[41,82,100],"estimation,":[42],"outliers":[44,87,187],"seriously":[46],"reduce":[47],"estimation":[49,149],"accuracy.":[50],"This":[51,65],"brief":[52],"proposes":[53],"an":[54,105],"innovation":[55,73,91],"saturation":[56,69,110],"mechanism":[57,66,103],"make":[59],"EKF":[61,77,120],"robust":[62,119],"against":[63],"outliers.":[64],"applies":[67],"a":[68],"function":[70],"that":[75,142],"leverages":[78],"correct":[80],"estimation.":[83,101],"As":[84],"such,":[85],"when":[86,134],"occur,":[88],"distorted":[90],"saturated,":[93],"so":[94],"as":[95],"not":[96],"undermine":[98],"The":[102,112,128],"features":[104],"adaptive":[106],"adjustment":[107],"bounds.":[111],"design":[113],"leads":[114],"development":[117],"approaches":[121,133,183],"both":[123],"continuous-":[124],"and":[125,192,198],"discrete-time":[126],"stability":[129],"proposed":[132,175,182],"linear":[137],"characterized,":[140],"showing":[141],"they":[143],"are":[144],"capable":[145],"performing":[147],"bounded-error":[148],"presence":[152],"bounded":[154],"outlier":[155],"disturbances":[156],"this":[158],"case.":[159],"A":[160],"simulation":[161],"study":[162],"about":[163],"mobile":[164],"robot":[165],"localization":[166],"presented":[168],"illustrate":[170],"efficacy":[172],"design.":[176],"Compared":[177],"existing":[179],"methods,":[180],"effectively":[185],"reject":[186],"various":[189],"magnitudes,":[190],"types,":[191],"durations,":[193],"at":[194],"significant":[195],"computational":[196],"efficiency":[197],"without":[199],"requiring":[200],"additional":[201],"redundancy.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-30T07:30:35.949966","created_date":"2025-10-10T00:00:00"}