Transformed Cubature Quadrature Kalman Filter for Harmonic Estimation with one-step Randomly Delayed Measurements

This work proposes a modified Cubature Quadrature Kalman filters based on orthogonal transformation for nonlinear harmonic estimation with one-step randomly delayed (1-RD) measurements. The proposed algorithm, termed as Transformed Cubature Quadrature Kalman filter (TCQKFRD), enhances the estimation accuracy without increasing computational burden compared to the available Cubature Quadrature Kalman filter with 1-RD measurements. Validation of the proposed filter is demonstrated for a significant nonlinear problem in simulation and subsequently real-time offline harmonic estimation problem. Root Mean Square Error (RMSE) and Average RMSE of the state over 1000 Monte Carlo runs reveal the effectiveness of the proposed algorithm.