Design of nonlinear system alternative frame filter with asynchronous correlation noise, one-step random delay measurement, data packet loss and Communication constraint

Compared with the the ideal Gaussian filter, in this paper, we study a class of nonlinear state estimation problems with asynchronous correlation noise, one-step random delay measurement, data packet loss and Communication constraint. Using a novel alternative framework, where the measurement noises are as the augment of the state vector, we can deduce the related formula and get a novel filtering algorithm. In order to explain the feasibility of the proposed algorithm, the paper demonstrates that the relevant recursive formula satisfies the Gaussian distribution. In order to facilitate simulation calculation, the suboptimal realization of the proposed algorithm on the basis of the spherical-radial cubature rule is given. In the end of this paper, the superiority of the algorithm is presented.