Resilient Cubature Kalman Filtering Under Round-Robin Protocol: Addressing Sensor Saturations and Channel Noises

Abstract

This article addresses the problem of resilient cubature Kalman filtering (RCKF) for nonlinear systems with sensor saturations under a round-robin protocol (RRP) affected by channel noises. To enhance transmission efficiency, the RRP is employed in the communication channel to regulate data signal transmission, with particular consideration given to channel noises to more accurately reflect practical conditions. The focus is on the development of an RCKF algorithm that ensures an upper bound of the filtering error covariance (UBFEC) in the presence of sensor saturations and RRP influenced by channel noises. Subsequently, the minimization of the trace of this upper bound is achieved through the design of an appropriate filter gain. Furthermore, the uniform boundedness of the UBFEC is examined by using the matrix theory. Finally, the superiority and efficiency of the proposed RCKF scheme are demonstrated through a simulation experiment that includes comparisons.