84 research outputs found
A Probabilistic Perspective on Gaussian Filtering and Smoothing
We present a general probabilistic perspective on Gaussian filtering and smoothing. This allows us to show that common approaches to Gaussian filtering/smoothing can be distinguished solely by their methods of computing/approximating the means and covariances of joint probabilities. This implies that novel filters and smoothers can be derived straightforwardly by providing methods for computing these moments. Based on this insight, we derive the cubature Kalman smoother and propose a novel robust filtering and smoothing algorithm based on Gibbs sampling
Robust Filtering and Smoothing with Gaussian Processes
We propose a principled algorithm for robust Bayesian filtering and smoothing
in nonlinear stochastic dynamic systems when both the transition function and
the measurement function are described by non-parametric Gaussian process (GP)
models. GPs are gaining increasing importance in signal processing, machine
learning, robotics, and control for representing unknown system functions by
posterior probability distributions. This modern way of "system identification"
is more robust than finding point estimates of a parametric function
representation. In this article, we present a principled algorithm for robust
analytic smoothing in GP dynamic systems, which are increasingly used in
robotics and control. Our numerical evaluations demonstrate the robustness of
the proposed approach in situations where other state-of-the-art Gaussian
filters and smoothers can fail.Comment: 7 pages, 1 figure, draft version of paper accepted at IEEE
Transactions on Automatic Contro
On Approximate Nonlinear Gaussian Message Passing On Factor Graphs
Factor graphs have recently gained increasing attention as a unified
framework for representing and constructing algorithms for signal processing,
estimation, and control. One capability that does not seem to be well explored
within the factor graph tool kit is the ability to handle deterministic
nonlinear transformations, such as those occurring in nonlinear filtering and
smoothing problems, using tabulated message passing rules. In this
contribution, we provide general forward (filtering) and backward (smoothing)
approximate Gaussian message passing rules for deterministic nonlinear
transformation nodes in arbitrary factor graphs fulfilling a Markov property,
based on numerical quadrature procedures for the forward pass and a
Rauch-Tung-Striebel-type approximation of the backward pass. These message
passing rules can be employed for deriving many algorithms for solving
nonlinear problems using factor graphs, as is illustrated by the proposition of
a nonlinear modified Bryson-Frazier (MBF) smoother based on the presented
message passing rules
Iterated Posterior Linearization Smoother
This note considers the problem of Bayesian smoothing in nonlinear state-space models with additive noise using Gaussian approximations. Sigma-point approximations to the general Gaussian Rauch-Tung-Striebel smoother are widely used methods to tackle this problem. These algorithms perform statistical linear regression (SLR) of the nonlinear functions considering only the previous measurements. We argue that SLR should be done taking all measurements into account. We propose the iterated posterior linearization smoother (IPLS), which is an iterated algorithm that performs SLR of the nonlinear functions with respect to the current posterior approximation. The algorithm is demonstrated to outperform conventional Gaussian nonlinear smoothers in two numerical examples
Comparing Kalman Filters and Observers for Power System Dynamic State Estimation with Model Uncertainty and Malicious Cyber Attacks
Kalman filters and observers are two main classes of dynamic state estimation
(DSE) routines. Power system DSE has been implemented by various Kalman
filters, such as the extended Kalman filter (EKF) and the unscented Kalman
filter (UKF). In this paper, we discuss two challenges for an effective power
system DSE: (a) model uncertainty and (b) potential cyber attacks. To address
this, the cubature Kalman filter (CKF) and a nonlinear observer are introduced
and implemented. Various Kalman filters and the observer are then tested on the
16-machine, 68-bus system given realistic scenarios under model uncertainty and
different types of cyber attacks against synchrophasor measurements. It is
shown that CKF and the observer are more robust to model uncertainty and cyber
attacks than their counterparts. Based on the tests, a thorough qualitative
comparison is also performed for Kalman filter routines and observers.Comment: arXiv admin note: text overlap with arXiv:1508.0725
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