A flexible robust student’s t-based multimodel approach with maximum Versoria criterion

The performance of the state estimation for Gaussian state space models can be degraded if the models are affected by the non-Gaussian process and measurement noises with uncertain degree of non-Gaussianity. In this paper, we propose a flexible robust Student's t multi-model approach. More specifically, the degrees of freedom parameter from the Student's t distribution is assumed unknown and modelled by a Markov chain of state values. In order to capture more information of the Student's t distributions propagated through multiple models, we establish a model-based Versoria cost function in the form of a weighted mixture rather than the original form, and maximize the function to interact and fuse the multiple models. Simulated results prove the flexibility of the robustness of the proposed Student's t multi-model approach when the existence probability of the outliers is uncertain.