Unscented Kalman Filtering for Nonlinear Systems with Stochastic Nonlinearities under FlexRay Protocol

Xianzheng Meng; Hanbo Wang; Yongxin Li; Yuxuan Shen

doi:10.53941/ijndi.2025.100010

Open Access

Article

Unscented Kalman Filtering for Nonlinear Systems with Stochastic Nonlinearities under FlexRay Protocol

Xianzheng Meng^{1, 2, 3}

,

Hanbo Wang^{1, 2, 3}

,

Yongxin Li^{1, 2, 3}

,

Yuxuan Shen^{1, 2, 3, *}

Author Information

Submitted: 13 Jan 2025 | Accepted: 4 May 2025 | Published: 27 Jun 2025

Abstract

In this paper, an unscented Kalman filtering problem is considered for a class of nonlinear systems with stochastic nonlinearities under the FlexRay protocol. The phenomenon of stochastic nonlinearities is characterized by the statistical means to account for engineering practice. Moreover, with the FlexRay protocol implemented between the sensors and the filter, an appropriate measurement model is established to characterize the measurement outputs after data transmission via the FlexRay protocol. By considering the stochastic nonlinearities and the FlexRay protocol, an tailored unscented Kalman filtering algorithm is designed where the influence of the stochastic nonlinearities and the FlexRay protocol is quantified. In the end, the effectiveness of the proposed filtering algorithm is verified in estimating the state of nonlinear systems through simulation experiments.

Keywords

Unscented Kalman Filter | nonlinear systems | FlexRay protocols | stochastic nonlinearities

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DOI

10.53941/ijndi.2025.100010

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Volume 4, Issue 2

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Meng, X., Wang, H., Li, Y., & Shen, Y. (2025). Unscented Kalman Filtering for Nonlinear Systems with Stochastic Nonlinearities under FlexRay Protocol. International Journal of Network Dynamics and Intelligence, 4(2), 100010. https://doi.org/10.53941/ijndi.2025.100010

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