Self-recovering extended Kalman filtering algorithm based on model-based diagnosis and resetting using an assisting FIR filter

This paper proposes a new intelligent filtering algorithm called the self-recovering extended Kalman filter (SREKF). In the SREKF algorithm, the EKF's failure or abnormal operation is automatically diagnosed using an intelligence algorithm for model-based diagnosis. When the failure is diagnosed, an assisting filter, a nonlinear finite impulse response (FIR) filter, is operated. Using the output of the nonlinear FIR filter, the EKF is reset and rebooted. In this way, the SREKF can self-recover from failures. The effectiveness and performance of the proposed SREKF are demonstrated through two applications the frequency estimation and the indoor human localization. (C) 2015 Elsevier B.V. All rights reserved.