Proposes SR-GCI-IUKF, a robust UKF using generalized correntropy for nonlinear state estimation under non-Gaussian disturbances, with claimed kernel insensitivity and stability guarantees.
() is the th − element of the matrix and 2() = + − is the scale correction factor
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Outlier-Robust unscented Kalman filter based on generalized correntropy induced
Proposes SR-GCI-IUKF, a robust UKF using generalized correntropy for nonlinear state estimation under non-Gaussian disturbances, with claimed kernel insensitivity and stability guarantees.