EM Algorithm State Matrix Estimation for Navigation
Signal Processing Letters, IEEE（2010）
摘要
The convergence of an expectation-maximization (EM) algorithm for state matrix estimation is investigated. It is shown for the expectation step that the design and observed error covariances are monotonically dependent on the residual error variances. For the maximization step, it is established that the residual error variances are monotonically dependent on the design and observed error covariances. The state matrix estimates are observed to be unbiased when the measurement noise is negligible. A navigation application is discussed in which the use of estimated parameters improves filtering performance.
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关键词
Global Positioning System,Kalman filters,convergence,expectation-maximisation algorithm,matrix algebra,state estimation,EM algorithm state matrix estimation,Kalman filtering,expectation-maximization algorithm convergence,measurement noise,noisy GPS receiver measurements filtering,observed error covariances,residual error variances,Kalman filtering,navigation,parameter estimation
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