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Prior knowledge processing for initial state of Kalman filter
Author(s) -
Suzdaleva E.
Publication year - 2010
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.1106
Subject(s) - kalman filter , computer science , conjugate prior , state (computer science) , prior probability , state space , filter (signal processing) , estimation , state space representation , artificial intelligence , data mining , machine learning , engineering , algorithm , mathematics , computer vision , statistics , bayesian probability , systems engineering
The paper deals with a specification of the prior distribution of the initial state for Kalman filter. The subjective prior knowledge, used in state estimation, can be highly uncertain. In practice, incorporation of prior knowledge contributes to a good start of the filter. The present paper proposes a methodology for selection of the initial state distribution, which enables eliciting of prior knowledge from the available expert information. The proposed methodology is based on the use of the conjugate prior distribution for models belonging to the exponential family. The normal state‐space model is used for demonstrating the methodology. The paper covers processing of the prior knowledge for state estimation, available in the form of simulated data. Practical experiments demonstrate the processing of prior knowledge from the urban traffic control area, which is the main application of the research. Copyright © 2009 John Wiley & Sons, Ltd.