Estimation of parameters in a linear state space model using a Rao-Blackwellised particle filter
- 1 November 2004
- journal article
- Published by Institution of Engineering and Technology (IET) in IEE Proceedings - Control Theory and Applications
- Vol. 151 (6), 727-738
- https://doi.org/10.1049/ip-cta:20041008
Abstract
A Rao-Blackwellised particle filter is used in the estimation of the parameters of a linear stochastic state space model. The proposed method combines the particle filtering technique with a Kalman filter using marginalisation so as to make full use of the analytically tractable structure of the model. Simulation studies are performed on a simple illustrative example and the results demonstrate the effectiveness of the proposed method in comparison with the conventional extended-Kalman-filler-based method. The proposed method is then applied in the estimation of the parameters in a railway vehicle dynamic model for condition monitoring and the desired results have been obtained.Keywords
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