11. Simultaneous estimation and modeling of nonlinear, non- Gaussian state-space systems
- Author:
- Josiah Steckenrider and Furukawa Tomonari
- Publication Date:
- 07-2021
- Content Type:
- Research Paper
- Institution:
- Department of Social Sciences at West Point, United States Military Academy
- Abstract:
- This paper presents a framework for simultaneous estimation and modeling of nonlinear, non-Gaussian state-space systems. In the proposed approach, uncertainty in motion model parameters is incorporated to avoid overconfidence in state prediction and better account for modeling inaccuracies. The additional original contribution of a model correction stage improves nonlinear model parameter estimates in order to enhance the accuracy of state estimation. The presented nonlinear/non-Gaussian Simultaneous Estimation And Modeling (SEAM) approach was compared with contemporary estimation techniques using a Monte-Carlo simulation study. This study showed that the proposed method successfully reduces estimation error relative to existing approaches even when substantial model parameter uncertainty and multi-modal sensor noise are present. The framework has potential use in a wide range of applications where state-space estimation is employed, including robotics, signal processing, and controls.
- Topic:
- Science and Technology, Space, Artificial Intelligence, and Models
- Political Geography:
- Global Focus