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Unscented Kalman Filter
In statistics and control theory, Kalman filtering (also known as linear quadratic estimation) is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, to produce estimates of unknown variables that tend to be more accurate than those based on a single measurement, by estimating a joint probability distribution over the variables for each time-step. The filter is constructed as a mean squared error minimiser, but an alternative derivation of the filter is also provided showing how the filter relates to maximum likelihood statistics. The filter is named after Rudolf E. Kálmán. Kalman filtering has numerous technological applications. A common application is for guidance, navigation, and control of vehicles, particularly aircraft, spacecraft and ships positioned dynamically. Furthermore, Kalman filtering is much applied in time series analysis tasks such as signal processing and econometrics. Kalman filtering i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Basic Concept Of Kalman Filtering
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Weighted Mean
The weighted arithmetic mean is similar to an ordinary arithmetic mean (the most common type of average), except that instead of each of the data points contributing equally to the final average, some data points contribute more than others. The notion of weighted mean plays a role in descriptive statistics and also occurs in a more general form in several other areas of mathematics. If all the weights are equal, then the weighted mean is the same as the arithmetic mean. While weighted means generally behave in a similar fashion to arithmetic means, they do have a few counterintuitive properties, as captured for instance in Simpson's paradox. Examples Basic example Given two school with 20 students, one with 30 test grades in each class as follows: :Morning class = :Afternoon class = The mean for the morning class is 80 and the mean of the afternoon class is 90. The unweighted mean of the two means is 85. However, this does not account for the difference in number of ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
State-space Representation
In control engineering and system identification, a state-space representation is a mathematical model of a physical system that uses state variables to track how inputs shape system behavior over time through first-order differential equations or difference equations. These state variables change based on their current values and inputs, while outputs depend on the states and sometimes the inputs too. The state space (also called time-domain approach and equivalent to phase space in certain dynamical systems) is a geometric space where the axes are these state variables, and the system’s state is represented by a state vector. For linear, time-invariant, and finite-dimensional systems, the equations can be written in matrix form, offering a compact alternative to the frequency domain’s Laplace transforms for multiple-input and multiple-output (MIMO) systems. Unlike the frequency domain approach, it works for systems beyond just linear ones with zero initial conditions. Thi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Latent Variable
In statistics, latent variables (from Latin: present participle of ) are variables that can only be inferred indirectly through a mathematical model from other observable variables that can be directly observed or measured. Such '' latent variable models'' are used in many disciplines, including engineering, medicine, ecology, physics, machine learning/artificial intelligence, natural language processing, bioinformatics, chemometrics, demography, economics, management, political science, psychology and the social sciences. Latent variables may correspond to aspects of physical reality. These could in principle be measured, but may not be for practical reasons. Among the earliest expressions of this idea is Francis Bacon's polemic the ''Novum Organum'', itself a challenge to the more traditional logic expressed in Aristotle's Organon: In this situation, the term ''hidden variables'' is commonly used, reflecting the fact that the variables are meaningful, but not observable ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
State Space
In computer science, a state space is a discrete space representing the set of all possible configurations of a system. It is a useful abstraction for reasoning about the behavior of a given system and is widely used in the fields of artificial intelligence and game theory. For instance, the toy problem Vacuum World has a discrete finite state space in which there are a limited set of configurations that the vacuum and dirt can be in. A "counter" system, where states are the natural numbers starting at 1 and are incremented over time has an infinite discrete state space. The angular position of an undamped pendulum is a continuous (and therefore infinite) state space. Definition State spaces are useful in computer science as a simple model of machines. Formally, a state space can be defined as a tuple [''N'', ''A'', ''S'', ''G''] where: * ''N'' is a Set (mathematics), set of states * ''A'' is a set of arcs connecting the states * ''S'' is a nonempty subset of ''N ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Hidden Markov Model
A hidden Markov model (HMM) is a Markov model in which the observations are dependent on a latent (or ''hidden'') Markov process (referred to as X). An HMM requires that there be an observable process Y whose outcomes depend on the outcomes of X in a known way. Since X cannot be observed directly, the goal is to learn about state of X by observing Y. By definition of being a Markov model, an HMM has an additional requirement that the outcome of Y at time t = t_0 must be "influenced" exclusively by the outcome of X at t = t_0 and that the outcomes of X and Y at t < t_0 must be conditionally independent of at given at time . Estimation of the parameters in an HMM can be performed using maximum likelihood estimation. For linear chain HMMs, the Baum–Welch algorithm can be used to estimate parameters. Hidden Markov models are known for their applications to thermodynamics, statistical mechanics, physics, chem ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nonlinear System
In mathematics and science, a nonlinear system (or a non-linear system) is a system in which the change of the output is not proportional to the change of the input. Nonlinear problems are of interest to engineers, biologists, physicists, mathematicians, and many other scientists since most systems are inherently nonlinear in nature. Nonlinear dynamical systems, describing changes in variables over time, may appear chaotic, unpredictable, or counterintuitive, contrasting with much simpler linear systems. Typically, the behavior of a nonlinear system is described in mathematics by a nonlinear system of equations, which is a set of simultaneous equations in which the unknowns (or the unknown functions in the case of differential equations) appear as variables of a polynomial of degree higher than one or in the argument of a function which is not a polynomial of degree one. In other words, in a nonlinear system of equations, the equation(s) to be solved cannot be written as a lin ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Unscented Kalman Filter
In statistics and control theory, Kalman filtering (also known as linear quadratic estimation) is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, to produce estimates of unknown variables that tend to be more accurate than those based on a single measurement, by estimating a joint probability distribution over the variables for each time-step. The filter is constructed as a mean squared error minimiser, but an alternative derivation of the filter is also provided showing how the filter relates to maximum likelihood statistics. The filter is named after Rudolf E. Kálmán. Kalman filtering has numerous technological applications. A common application is for guidance, navigation, and control of vehicles, particularly aircraft, spacecraft and ships positioned dynamically. Furthermore, Kalman filtering is much applied in time series analysis tasks such as signal processing and econometrics. Kalman filtering i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
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] |
Generalization
A generalization is a form of abstraction whereby common properties of specific instances are formulated as general concepts or claims. Generalizations posit the existence of a domain or set of elements, as well as one or more common characteristics shared by those elements (thus creating a conceptual model). As such, they are the essential basis of all valid deductive inferences (particularly in logic, mathematics and science), where the process of verification is necessary to determine whether a generalization holds true for any given situation. Generalization can also be used to refer to the process of identifying the parts of a whole, as belonging to the whole. The parts, which might be unrelated when left on their own, may be brought together as a group, hence belonging to the whole by establishing a common relation between them. However, the parts cannot be generalized into a whole—until a common relation is established among ''all'' parts. This does not mean that the ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Minimum Mean Square Error
In statistics and signal processing, a minimum mean square error (MMSE) estimator is an estimation method which minimizes the mean square error (MSE), which is a common measure of estimator quality, of the fitted values of a dependent variable. In the Bayesian setting, the term MMSE more specifically refers to estimation with quadratic loss function. In such case, the MMSE estimator is given by the posterior mean of the parameter to be estimated. Since the posterior mean is cumbersome to calculate, the form of the MMSE estimator is usually constrained to be within a certain class of functions. Linear MMSE estimators are a popular choice since they are easy to use, easy to calculate, and very versatile. It has given rise to many popular estimators such as the Wiener–Kolmogorov filter and Kalman filter. Motivation The term MMSE more specifically refers to estimation in a Bayesian setting with quadratic cost function. The basic idea behind the Bayesian approach to estimation st ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linearity
In mathematics, the term ''linear'' is used in two distinct senses for two different properties: * linearity of a '' function'' (or '' mapping''); * linearity of a '' polynomial''. An example of a linear function is the function defined by f(x)=(ax,bx) that maps the real line to a line in the Euclidean plane R2 that passes through the origin. An example of a linear polynomial in the variables X, Y and Z is aX+bY+cZ+d. Linearity of a mapping is closely related to '' proportionality''. Examples in physics include the linear relationship of voltage and current in an electrical conductor ( Ohm's law), and the relationship of mass and weight. By contrast, more complicated relationships, such as between velocity and kinetic energy, are '' nonlinear''. Generalized for functions in more than one dimension, linearity means the property of a function of being compatible with addition and scaling, also known as the superposition principle. Linearity of a polynomial means that it ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
