# Outlier-robust Kalman filters with mixture correntropy

arXiv: https://arxiv.org/abs/1907.00307 · HTML: https://mlsanity.com/paper/1907.00307/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Jun 2019.

## Built on by (most cited first, 2 of 2)

- [Inverse Cubature and Quadrature Kalman filters](https://mlsanity.com/paper/2303.10322/) (2023)
- [Outlier-robust Autocovariance Least Square Estimation via Iteratively Reweighted Least Square](https://mlsanity.com/paper/2603.08158/) (2026)

## Abstract (arXiv)

We consider the robust filtering problem for a nonlinear state-space model with outliers in measurements. 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 correntropy 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.