SCIENCE CHINA Information Sciences, Volume 60, Issue 12: 120203(2017) https://doi.org/10.1007/s11432-017-9138-6

## Entropy optimization based filtering for non-Gaussian stochastic systems

• ReceivedApr 18, 2017
• AcceptedJun 13, 2017
• PublishedNov 9, 2017
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### Abstract

This paper is concerned with the entropy optimization based filter design for a class of multivariate dynamic stochastic systems with simultaneous presence of non-Gaussian process noise and measurement noise. The filter consists of time update and measurement update two steps, where the selection of the filter gain in the measurement update equation is a key issue to be addressed. Different from the classic Kalman filter theory, entropy rather than variance is employed as the filtering performance criterion due to the non-Gaussian characteristic of the estimation error. Following the establishment of the relationship between the probability density functions of random noises and estimation error, two kinds of entropy based performance indices are provided. On this basis, the corresponding optimal filter gains are obtained respectively by using the gradient optimization technique. Finally, some numerical simulations are provided to demonstrate the effectiveness of the proposed filtering algorithms.

### Acknowledgment

This work was supported by National Natural Science Foundation of China (Grant Nos. 61320106010, 61573019, 61627810). The authors would like to thank the anonymous reviewers for their constructive comments which helped to improve the quality and presentation of this paper significantly.

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• Figure 1

(Color online) Filter gain iteration at some sample times.

• Figure 2

(Color online) System state and its estimation.

• Figure 3

(Color online) PDF of the estimation error.

• Figure 4

(Color online) Filter gain iteration at some sample times.

• Figure 5

(Color online) System state and its estimation.

• Figure 6

(Color online) PDF of the estimation error.

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