Tracking and Kalman filtering made easy P15

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Tracking and Kalman filtering made easy P15

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LINEAR TIME-VARIANT SYSTEM 15.1 INTRODUCTION In this chapter we extend the results of Chapters 4 and 8 to systems having time-variant dynamic models and observation schemes [5, pp. 99–104]. For a time-varying observation system, the observation matrix M of (4.1-1) and (4.1-5) could be different at different times, that is, for different n. Thus the observation equation becomes Y n ¼ M nX n þ N n ð15:1-1Þ For a time-varying dynamics model the transition matrix È would be different at different times. In this case È of (8.1-7) is replaced by Èðt n ; t nÀ1 Þ to indicate a dependence...

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