Open AccessRecursive joint Cramér‐Rao lower bound for parametric systems with two‐adjacent‐states dependent measurements
Author(s) -
Li Xianqing,
Duan Zhansheng,
Hanebeck Uwe D.
Publication year - 2021
Publication title -
iet signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.384
H-Index - 42
eISSN - 1751-9683
pISSN - 1751-9675
DOI - 10.1049/sil2.12025
Subject(s) - cramér–rao bound , parametric statistics , joint (building) , current (fluid) , upper and lower bounds , autocorrelation , state (computer science) , algorithm , mathematics , computer science , estimation theory , statistics , engineering , mathematical analysis , architectural engineering , electrical engineering
Joint Cramér‐Rao lower bound (JCRLB) is very useful for the performance evaluation of joint state and parameter estimation (JSPE) of non‐linear systems, in which the current measurement only depends on the current state. However, in reality, the non‐linear systems with two‐adjacent‐states dependent (TASD) measurements, that is, the current measurement is dependent on the current state as well as the most recent previous state, are also common. First, the recursive JCRLB for the general form of such non‐linear systems with unknown deterministic parameters is developed. Its relationships with the posterior CRLB for systems with TASD measurements and the hybrid CRLB for regular parametric systems are also provided. Then, the recursive JCRLBs for two special forms of parametric systems with TASD measurements, in which the measurement noises are autocorrelated or cross‐correlated with the process noises at one time step apart, are presented, respectively. Illustrative examples in radar target tracking show the effectiveness of the JCRLB for the performance evaluation of parametric TASD systems.