相关论文: On the Projective Geometry of Kalman Filter

In this paper we analyze the convergence of a family of robust Kalman filters. For each filter of this family the model uncertainty is tuned according to the so called tolerance parameter. Assuming that the corresponding state-space model…

An important property of the Kalman filter is that the underlying Riccati flow is a contraction for the natural metric of the cone of symmetric positive definite matrices. The present paper studies the geometry of a low-rank version of the…

In this paper, we analyze the convergence of a risk sensitive like filter where the risk sensitivity parameter is time varying. Such filter has a Kalman like structure and its gain matrix is updated according to a Riccati like iteration. We…

The contraction properties of the Extended Kalman Filter, viewed as a deterministic observer for nonlinear systems, are analyzed. This yields new conditions under which exponential convergence of the state error can be guaranteed. As…

We consider a robust state space filtering problem in the case that the transition probability density is unknown and possibly degenerate. The resulting robust filter has a Kalman-like structure and solves a minimax game: the nature selects…

We demonstrate that the extended Kalman filter converges locally for a broad class of nonlinear systems. If the initial estimation error of the filter is not too large then the error goes to zero exponentially as time goes to infinity. To…

A contraction analysis of risk-sensitive Riccati equations is proposed. When the state-space model is reachable and observable, a block-update implementation of the risk-sensitive filter is used to show that the N-fold composition of the…

We consider a robust filtering problem where the robust filter is designed according to the least favorable model belonging to a ball about the nominal model. In this approach, the ball radius specifies the modeling error tolerance and the…

Convergence of the ensemble Kalman filter in the limit for large ensembles to the Kalman filter is proved. In each step of the filter, convergence of the ensemble sample covariance follows from a weak law of large numbers for exchangeable…

The aim of this paper is to investigate the links between ${\cal T}_C$-class algorithms, CQ Algorithm and shrinking projection methods. We show that strong convergence of these algorithms are related to coherent ${\cal T}_C$-class sequences…

We consider the nonlinear Kalman filtering problem using Kullback-Leibler (KL) and $\alpha$-divergence measures as optimization criteria. Unlike linear Kalman filters, nonlinear Kalman filters do not have closed form Gaussian posteriors…

Matrix differential Riccati equations are central in filtering and optimal control theory. The purpose of this article is to develop a perturbation theory for a class of stochastic matrix Riccati diffusions. Diffusions of this type arise,…

Ensemble filters implement sequential Bayesian estimation by representing the probability distribution by an ensemble mean and covariance. Unbiased square root ensemble filters use deterministic algorithms to produce an analysis (posterior)…

This report derives a generalized, converted measurement Kalman filter for the class of filtering problems with a linear state equation and nonlinear measurement equation, for which a bijective mapping exists between the state and…

We introduce the inverse Kalman filter, which enables exact matrix-vector multiplication between a covariance matrix from a dynamic linear model and any real-valued vector with linear computational cost. We integrate the inverse Kalman…

We investigate the properties of a class of piecewise-fractional maps arising from the introduction of an invariance under rescaling into convex quadratic maps. The subsequent maps are quasiconvex, and pseudoconvex on specific convex cones;…

Both constrained and unconstrained optimization problems regularly appear in recursive tracking problems engineers currently address -- however, constraints are rarely exploited for these applications. We define the Kalman Filter and…

In this paper, we study $\Delta$- convergence of iterations for a sequence of strongly quasi-nonexpansive mappings as well as the strong convergence of the Halpern type regularization of them in Hadamard spaces. Then, we give some their…

In this paper, we present the optimization formulation of the Kalman filtering and smoothing problems, and use this perspective to develop a variety of extensions and applications. We first formulate classic Kalman smoothing as a least…

We develop a framework for quantitative convergence analysis of Picard iterations of expansive set-valued fixed point mappings. There are two key components of the analysis. The first is a natural generalization of single-valued averaged…