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Extended Kalman Filter
In estimation theory, the extended Kalman filter (EKF) is the nonlinear version of the Kalman filter which linearizes about an estimate of the current mean and covariance. In the case of well defined transition models, the EKF has been considered the ''de facto'' standard in the theory of nonlinear state estimation, navigation systems and GPS. History The papers establishing the mathematical foundations of Kalman type filters were published between 1959 and 1961. The Kalman filter is the optimal linear estimator for ''linear'' system models with additive independent white noise in both the transition and the measurement systems. Unfortunately, in engineering, most systems are ''nonlinear'', so attempts were made to apply this filtering method to nonlinear systems; most of this work was done at NASA Ames. The EKF adapted techniques from calculus, namely multivariate Taylor series expansions, to linearize a model about a working point. If the system model (as described below) is no ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Estimation Theory
Estimation theory is a branch of statistics that deals with estimating the values of Statistical parameter, parameters based on measured empirical data that has a random component. The parameters describe an underlying physical setting in such a way that their value affects the distribution of the measured data. An ''estimator'' attempts to approximate the unknown parameters using the measurements. In estimation theory, two approaches are generally considered: * The probabilistic approach (described in this article) assumes that the measured data is random with probability distribution dependent on the parameters of interest * The set estimation, set-membership approach assumes that the measured data vector belongs to a set which depends on the parameter vector. Examples For example, it is desired to estimate the proportion of a population of voters who will vote for a particular candidate. That proportion is the parameter sought; the estimate is based on a small random sa ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Jacobian Matrix
In vector calculus, the Jacobian matrix (, ) of a vector-valued function of several variables is the matrix of all its first-order partial derivatives. If this matrix is square, that is, if the number of variables equals the number of components of function values, then its determinant is called the Jacobian determinant. Both the matrix and (if applicable) the determinant are often referred to simply as the Jacobian. They are named after Carl Gustav Jacob Jacobi. The Jacobian matrix is the natural generalization to vector valued functions of several variables of the derivative and the differential of a usual function. This generalization includes generalizations of the inverse function theorem and the implicit function theorem, where the non-nullity of the derivative is replaced by the non-nullity of the Jacobian determinant, and the multiplicative inverse of the derivative is replaced by the inverse of the Jacobian matrix. The Jacobian determinant is fundamentally used f ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linear Regression
In statistics, linear regression is a statistical model, model that estimates the relationship between a Scalar (mathematics), scalar response (dependent variable) and one or more explanatory variables (regressor or independent variable). A model with exactly one explanatory variable is a ''simple linear regression''; a model with two or more explanatory variables is a multiple linear regression. This term is distinct from multivariate linear regression, which predicts multiple correlated dependent variables rather than a single dependent variable. In linear regression, the relationships are modeled using linear predictor functions whose unknown model parameters are estimation theory, estimated from the data. Most commonly, the conditional mean of the response given the values of the explanatory variables (or predictors) is assumed to be an affine function of those values; less commonly, the conditional median or some other quantile is used. Like all forms of regression analysis, ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Unscented Transform
The unscented transform (UT) is a mathematical function used to estimate the result of applying a given nonlinear transformation to a probability distribution that is characterized only in terms of a finite set of statistics. The most common use of the unscented transform is in the nonlinear projection of mean and covariance estimates in the context of nonlinear extensions of the Kalman filter. Its creator Jeffrey Uhlmann explained that "unscented" was an arbitrary name that he adopted to avoid it being referred to as the “Uhlmann filter.” Background Many filtering and control methods represent estimates of the state of a system in the form of a mean vector and an associated error covariance matrix. As an example, the estimated 2-dimensional position of an object of interest might be represented by a mean position vector, , y/math>, with an uncertainty given in the form of a 2x2 covariance matrix giving the variance in x, the variance in y, and the cross covariance between the ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Moment (mathematics)
In mathematics, the moments of a function are certain quantitative measures related to the shape of the function's graph. If the function represents mass density, then the zeroth moment is the total mass, the first moment (normalized by total mass) is the center of mass, and the second moment is the moment of inertia. If the function is a probability distribution, then the first moment is the expected value, the second central moment is the variance, the third standardized moment is the skewness, and the fourth standardized moment is the kurtosis. For a distribution of mass or probability on a bounded interval, the collection of all the moments (of all orders, from to ) uniquely determines the distribution ( Hausdorff moment problem). The same is not true on unbounded intervals ( Hamburger moment problem). In the mid-nineteenth century, Pafnuty Chebyshev became the first person to think systematically in terms of the moments of random variables. Significance of th ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Posterior Distribution
The posterior probability is a type of conditional probability that results from updating the prior probability with information summarized by the likelihood via an application of Bayes' rule. From an epistemological perspective, the posterior probability contains everything there is to know about an uncertain proposition (such as a scientific hypothesis, or parameter values), given prior knowledge and a mathematical model describing the observations available at a particular time. After the arrival of new information, the current posterior probability may serve as the prior in another round of Bayesian updating. In the context of Bayesian statistics, the posterior probability distribution usually describes the epistemic uncertainty about statistical parameters conditional on a collection of observed data. From a given posterior distribution, various point and interval estimates can be derived, such as the maximum a posteriori (MAP) or the highest posterior density interval ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Gaussian Distribution
In probability theory and statistics, a normal distribution or Gaussian distribution is a type of continuous probability distribution for a real number, real-valued random variable. The general form of its probability density function is f(x) = \frac e^\,. The parameter is the Mean#Mean of a probability distribution, mean or expected value, expectation of the distribution (and also its median and mode (statistics), mode), while the parameter \sigma^2 is the variance. The standard deviation of the distribution is (sigma). A random variable with a Gaussian distribution is said to be normally distributed, and is called a normal deviate. Normal distributions are important in statistics and are often used in the natural science, natural and social sciences to represent real-valued random variables whose distributions are not known. Their importance is partly due to the central limit theorem. It states that, under some conditions, the average of many samples (observations) of a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Symmetry-preserving Filter
In mathematics, Symmetry-preserving observers,S. Bonnabel, Ph. Martin and E. Salaün, "Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem", 48th IEEE Conference on Decision and Control, pp. 1297-1304, 2009. also known as invariant filters, are estimation techniques whose structure and design take advantage of the natural symmetries (or invariances) of the considered nonlinear model. As such, the main benefit is an expected much larger domain of convergence than standard filtering methods, e.g. Extended Kalman Filter (EKF) or Unscented Kalman Filter (UKF). Motivation Most physical systems possess natural symmetries (or invariance), i.e. there exist transformations (e.g. rotations, translations, scalings) that leave the system unchanged. From mathematical and engineering viewpoints, it makes sense that a filter well-designed for the system being considered should preserve the same invariance properties. Definition Conside ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Riccati Equation
In mathematics, a Riccati equation in the narrowest sense is any first-order ordinary differential equation that is quadratic in the unknown function. In other words, it is an equation of the form y'(x) = q_0(x) + q_1(x) \, y(x) + q_2(x) \, y^2(x) where q_0(x) \neq 0 and q_2(x) \neq 0. If q_0(x) = 0 the equation reduces to a Bernoulli equation, while if q_2(x) = 0 the equation becomes a first order linear ordinary differential equation. The equation is named after Jacopo Riccati (1676–1754). More generally, the term Riccati equation is used to refer to matrix equations with an analogous quadratic term, which occur in both continuous-time and discrete-time linear-quadratic-Gaussian control. The steady-state (non-dynamic) version of these is referred to as the algebraic Riccati equation. Conversion to a second order linear equation The non-linear Riccati equation can always be converted to a second order linear ordinary differential equation (ODE): If y' = q_0(x ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Implicit Function
In mathematics, an implicit equation is a relation of the form R(x_1, \dots, x_n) = 0, where is a function of several variables (often a polynomial). For example, the implicit equation of the unit circle is x^2 + y^2 - 1 = 0. An implicit function is a function that is defined by an implicit equation, that relates one of the variables, considered as the value of the function, with the others considered as the arguments. For example, the equation x^2 + y^2 - 1 = 0 of the unit circle defines as an implicit function of if , and is restricted to nonnegative values. The implicit function theorem provides conditions under which some kinds of implicit equations define implicit functions, namely those that are obtained by equating to zero multivariable functions that are continuously differentiable. Examples Inverse functions A common type of implicit function is an inverse function. Not all functions have a unique inverse function. If is a function of that has a unique inv ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
De Facto Standard
A ''de facto'' standard is a custom or convention that is commonly used even though its use is not required. is a Latin phrase (literally " of fact"), here meaning "in practice but not necessarily ordained by law" or "in practice or actuality, but not officially established". A ''de facto'' standard contrasts an international standard which is defined by an organization such as International Standards Organization, or a standard required by law (also known as ''de jure'' standards). Joint technical committee on information technology (ISO/IEC JTC1) developed a procedure in order for de facto standards to be processed through the formal standardization system to be transformed into international standards from ISO and IEC. In social sciences a voluntary standard that is also a ''de facto'' standard is a typical solution to a coordination problem. The choice of a ''de facto'' standard tends to be stable in situations in which all parties can realize mutual gains, but only by ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Particle Filter
Particle filters, also known as sequential Monte Carlo methods, are a set of Monte Carlo algorithms used to find approximate solutions for filtering problems for nonlinear state-space systems, such as signal processing and Bayesian statistical inference. The filtering problem consists of estimating the internal states in dynamical systems when partial observations are made and random perturbations are present in the sensors as well as in the dynamical system. The objective is to compute the posterior distributions of the states of a Markov process, given the noisy and partial observations. The term "particle filters" was first coined in 1996 by Pierre Del Moral about mean-field interacting particle methods used in fluid mechanics since the beginning of the 1960s. The term "Sequential Monte Carlo" was coined by Jun S. Liu and Rong Chen in 1998. Particle filtering uses a set of particles (also called samples) to represent the posterior distribution of a stochastic process giv ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
