Design of Gaussian filter for nonlinear system with correlated noises, randomly delayed measurements, packet dropouts and communication constraints

To deal with the non-ideal conditions for state estimation problem, in this paper, a novel state estimation problem for nonlinear system with correlated noised, randomly delayed measurement, packet dropouts and communication constraints is considered. Using the alternative framework, we deduce the augmented filter, where state and measurement noises are estimated associated with state. To show the effectiveness of the proposed filter, the numerical realization on the basis of third-degree spherical-radial cubature rule is given, and the result is applied to deal with the univariate non-stationary growth model(UNGM). What's more, the superiority is shown through the simulation results.