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preprint · arXiv (Cornell University) · 2019

The universality of the Kalman filter: a conditional characteristic function perspective

Sandhya Rathore, Shambhu N. Sharma, Shaival H. Nagarsheth

Cited by 0Open access

Abstract

The universality of the celebrated Kalman filtering can be found in control theory. The Kalman filter has found its striking applications in sophisticated autonomous systems and smart products, which are attributed to its realization in a single complex chip. In this paper, we revisit the Kalman filter from the perspective of conditional characteristic function evolution and Ito calculus and develop three Kalman filtering Theorems and their formal proof. Most notably, this paper reveals the following: (i) Kalman filtering equations are a consequence of the evolution of conditional characteristic function for the linear stochastic differential system coupled with the linear discrete measurement system. (ii) The Kalman filtering is a consequence of the stochastic evolution of conditional characteristic function for the linear stochastic differential system coupled with the linear continuous measurement system. (iii) The structure of the Kalman filter remains invariant under two popular stochastic interpretations, the Ito vs Stratonovich.

Cite this paper

APA 7

Rathore, S., Sharma, S. N., & Nagarsheth, S. H. (2019). The universality of the Kalman filter: a conditional characteristic function perspective. arXiv (Cornell University). https://doi.org/10.48550/arxiv.1910.03446

MLA 9

Rathore, Sandhya, et al. “The universality of the Kalman filter: a conditional characteristic function perspective.” arXiv (Cornell University), 2019, https://doi.org/10.48550/arxiv.1910.03446.

Chicago

Rathore, Sandhya, Shambhu N. Sharma, and Shaival H. Nagarsheth. 2019. “The universality of the Kalman filter: a conditional characteristic function perspective.” arXiv (Cornell University). https://doi.org/10.48550/arxiv.1910.03446.

Harvard

Rathore, S., Sharma, S.N. and Nagarsheth, S.H. (2019) ‘The universality of the Kalman filter: a conditional characteristic function perspective’, arXiv (Cornell University). Available at: https://doi.org/10.48550/arxiv.1910.03446.

BibTeX
@misc{rathore2019universality,
  title = {{The universality of the Kalman filter: a conditional characteristic function perspective}},
  author = {Rathore, Sandhya and Sharma, Shambhu N. and Nagarsheth, Shaival H.},
  journal = {arXiv (Cornell University)},
  year = {2019},
  doi = {10.48550/arxiv.1910.03446}
}

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