Outlier-robust Kalman filters with mixture correntropy

We consider the robust filtering problem for a nonlinear state-space model with outliers in mea- surements. To improve the robustness of the traditional Kalman filtering algorithm, we propose in this work two robust filters based on mixture correntropy, especially the double-Gaussian mixture corren- tropy and Laplace-Gaussian mixture correntropy. We have formulated the robust filtering problem by adopting the mixture correntropy induced cost to replace the quadratic one in the conventional Kalman filter for measurement fitting errors. In addition, a tradeoff weight coefficient is introduced to make sure the proposed approaches can provide reasonable state estimates in scenarios where measurement fitting errors are small. The formulated robust filtering problems are iteratively solved by utilizing the cubature Kalman filtering framework with a reweighted measurement covariance. Numerical results show that the proposed methods can achieve a performance improvement over existing robust solutions. (c) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.