VB-Based Gaussian Sum Cubature Kalman Filter for Adaptive Estimation of Unknown Delay and Loss Probability

Algorithm 1

The proposed VB-based Gaussian sum cubature Kalman filter algorithm.

 Input: ,

1Time update:

2 Obtain and using ((26)) and ((27))

3 , ,;

4 Variational measurement update:

5Initialization , , , , , , , , , ;

6 for to do

7  Update given and using ((33));

8  Update using ((38));

9  Update and using ((40));

10    Compuate and as ((36));

11    Update using ((44));

12    Update using ((46));

13    Compuate as ((43));

14 end

15 , , , , ;

 Output:,The estimated lost probability ,The estimated latency probability