Journal:Informatica
Volume 13, Issue 1 (2002), pp. 89–104
Abstract
The problem of recursive estimation of a state of dynamic systems in the presence of time-varying outliers in observations to be processed has been considered. A learning phase used in the state estimation is investigated, assuming that the observations of a noisy output signal and that of a training one are given. A technique based on robust filtering by means of a bank of parallel Kalman filters and on the procedure of optimization of the state estimation itself is used, choosing, at each time moment, a current estimate, that ensures a minimal absolute deviation from the current value of the teaching signal. An approach, based on the relation between the mean squared deviation of state estimates from the true state and innovation sequence variance as well as on the fact that both variables achieve their minimum for the same filter from the respective Kalman filter bank, is proposed here for a working phase, where a training signal will be absent. The recursive technique based on an adaptive state estimation with optimization procedure is worked out. The results of numerical simulation of the linear discrete-time invariant (LTI) system (56) by computer using a bank, consisting of Kalman filters are given (Figs. 1–5).
Journal:Informatica
Volume 10, Issue 3 (1999), pp. 297–312
Abstract
In the previous paper (Pupeikis, 1998), the problem of recursive estimation of the state of linear dynamic systems, described by an autoregressive model (AR), in the presence of time-varying outliers in observations to be processed has been considered. An approach to the robust recursive state estimation has been obtained and proved by estimating the real chemical process (Box and Jenkins, 1970). The aim of the given paper is the development of the abovementioned approach for the robust recursive state estimation of an autoregressive-moving average (ARMA) process in a case of additive noises with patchy outliers. The results of numerical simulation and the state estimation of the AR model (Figs. 1–4) and the real chemical process, described by the ARMA model, which is chosen from the same book of Box and Jenkins (Figs. 5–8) are given.
Journal:Informatica
Volume 9, Issue 3 (1998), pp. 325–342
Abstract
In the previous papers (Masreliez and Martin, 1977; Novovičova, 1987; Schick and Mitter, 1994) the problem of recursive estimation of linear dynamic systems parameters and of the state of such systems in the presence of outliers in observations have been considered. In this connection various ordinary recursive techniques are worked out, when systems output is corrupted by an additive noise with a time homogeneous contamination of outliers. The aim of the given paper is the development of an approach for robust recursive state estimation of linear dynamic systems in a case of additive noises with time-varying outliers. The recursive technique based on the abovementioned theoretical results is obtained and proved by state estimation of the real chemical process (Box and Jenkins, 1970). The results of numerical simulation by computer (Fig. 1–3) are given.