Inspec keywords: Kalman filters; target tracking; nonlinear filters; numerical analysis; statistical distributions; nonlinear dynamical systems; error statistics; measurement theory

Other keywords: Huber cost function; target tracking problem; UKF; performance improvement; error statistics; nonlinear measurement equation; measurement information reformulation; numerical simulation; nonGaussian probability distributions; standard unscented transformation; Huber-based robust unscented Kalman filter; NRUKF; nonlinear dynamic systems

Subjects: Signal processing theory; Measurement theory; Other topics in statistics; Filtering methods in signal processing; Other topics in statistics