TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Online tests of Kalman filter consistency

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Sivut115–124
JulkaisuInternational Journal of Adaptive Control and Signal Processing
Vuosikerta30
Numero1
DOI - pysyväislinkit
TilaJulkaistu - 2016
OKM-julkaisutyyppiA1 Alkuperäisartikkeli

Tiivistelmä

The normalised innovation squared (NIS) test, which is used to assess whether a Kalman filter's noise assumptions are consistent with realised measurements, can be applied online with real data, and does not require future data, repeated experiments or knowledge of the true state. In this work, it is shown that the NIS test is equivalent to three other model criticism procedures, which are as follows: (i) it can be derived as a Bayesian p-test for the prior predictive distribution; (ii) as a nested-model parameter significance test; and (iii) from a recently-proposed filter residual test. A new NIS-like test corresponding to a posterior predictive Bayesian p-test is presented.

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