Robert Grover Brown's Introduction to Random Signals and Applied Kalman Filtering, PDF

By Robert Grover Brown

ISBN-10: 0471128392

ISBN-13: 9780471128397

During this up-to-date variation the most thrust is on utilized Kalman filtering. Chapters 1-3 offer a minimum history in random method thought and the reaction of linear structures to random inputs. the next bankruptcy is dedicated to Wiener filtering and the rest of the textual content offers with a variety of points of Kalman filtering with emphasis on purposes. Starred difficulties on the finish of every bankruptcy are machine workouts. The authors think that programming the equations and studying the result of particular examples is the way to receive the perception that's crucial in engineering paintings.

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Extra info for Introduction to Random Signals and Applied Kalman Filtering, 3rd Edition (Book only)

Example text

Parametric Sensitivity Analysis. The focus here is on numerically stable implementation methods for the Kalman filter. Numerical analysis of all errors that influence the performance of the Kalman filter would include the effects of errors on the assumed values of all model parameters, such as Q, R, H, and F. These errors also include truncation effects due to finite precision. The sensitivities of performance to these types of modeling errors can be modeled mathematically, but this is not done here.

Lower Triangular Result Upper Triangular Result for j = m: -1:1, for j = 1: m, for i = j : -1:1, for i = 1 : j, sigma = M (i, j); sigma = M (i, j); for k = 1 : j - 1, for k = j + 1 : m, sigma = sigma - C (i, k) *C ( j, k); sigma = sigma - C (i, k) *C ( j, k); end; end; if i == j if i == j C (i, j) = sqrt (sigma); C (i, j) = sqrt (sigma); else else C (i, j) = sigma/C ( j, j) C (i, j) = sigma/C ( j, j) end; end; end; end; end; end; Computational complexity: 1 6 mðm À 1Þðm þ 4Þ flops þ mpffiffi. 4 UD Decomposition Algorithm Given M, a symmetric, positive-definite m  m matrix, U and D, modified Cholesky factors of M, are computed, such that U is a unit upper triangular matrix, D is a diagonal matrix, and M ¼ UDU T for j = m : -1:1, for i = j : -1:1, sigma = M (i, j); for k = j + 1 : m, sigma = sigma - U (i, k) *D (k, k) *U ( j, k); end; if i == j D ( j, j) = sigma; U ( j, j) = 1; else U (i, j) = sigma/D ( j, j); end; end; end; Computational complexity: 16 mðm À 1Þðm þ 4Þ flops.

12, which plots the improvement of fixed-lag smoothing over filtering as a function of SNR and D t/t, where t is the process correlation time. Note that the best improvement is a factor of 2 (23 dB), which is as good as it gets for stable systems. 1 Performance Analysis Performance Models Performance models are just that. They model estimator performance. They are based on an estimator model but do not include the estimator itself. They only include the equations which govern the propagation of the covariance of estimation uncertainty.

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Introduction to Random Signals and Applied Kalman Filtering, 3rd Edition (Book only) by Robert Grover Brown

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