UKF Based on Maximum Correntropy Criterion in the Presence of Both Intermittent Observations and Non-Gaussian Noise

Abstract

Motivated by tracking applications with sensor networks under non-Gaussian noise and intermittent observations, this paper considers a maximum correntropy unscented Kalman filter (MCUKF). MCUKF is based on maximum correntropy criterion (MCC) and unscented transformation (UT) which can deal with both non-Gaussian noise and intermittent observations. The intermittent observations are described by a binary sequence satisfying some properties. The MCC is used to deal with non-Gaussian noise and improves the robustness. Moreover, the arrival probabilities under non-Gaussian noise (shot noise and Gaussian mixture noise) and intermittent observations are given. The performance of the presented algorithm is verified by illustrating numerical examples.