Study of the stability and determinant method of divergence for UKF

In the paper, an determinant approach of divergence was provided based on the research of stability of unscented Kalman filter(UKF). The criterion and determinant method of filter divergence based on the definition of stability were brought forward. The divergence of the filter can be confirmed based on the 3 determinant conditions. It is a determinant method based on the whole filter process. It not only conquers the disadvantage of sensitive to outlier, but also improves the ability of resist outlier. It is benefit to decrease the misjudging risk and to enhance the reliability and veracity. The results of simulation indicate the veracity and validity of the method.