Tracking and Kalman filtering made easy P4

Chia sẻ: Khinh Kha Kha | Ngày: | Loại File: PDF | Số trang:50

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Tracking and Kalman filtering made easy P4

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LEAST-SQUARES AND MINIMUM– VARIANCE ESTIMATES FOR LINEAR TIME-INVARIANT SYSTEMS 4.1 GENERAL LEAST-SQUARES ESTIMATION RESULTS In Section 2.4 we developed (2.4-3), relating the 1 Â 1 measurement matrix Y n to the 2 Â 1 state vector X n through the 1 Â 2 observation matrix M as given by Y n ¼ MX n þ N n ð4:1-1Þ It was also pointed out in Sections 2.4 and 2.10 that this linear time-invariant equation (i.e., M is independent of time or equivalently n) applies to more general cases that we generalize further here. Specifically we assume Y n is a 1 Â ðr...

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