Automation and Remote Control

, Volume 77, Issue 2, pp 261–276 | Cite as

Efficient adaptation of design parameters of derivative-free filters

Topical Issue


The paper deals with state estimation of nonlinear discrete time stochastic dynamic systems with a focus on derivative-free filters. Design parameters of the filters are treated and an efficient way for their adaptation is proposed. The efficiency is based on observing a degree of nonlinearity of the nonlinear state and measurement functions at the working point by means of a non-Gaussianity measure. The adaptation is executed only if the nonlinearity is severe and the design parameter adaptation may bring a significant improvement of the estimate quality. Otherwise the adaptation is switched off to keep computational complexity of the filter low. The developed algorithm is illustrated using a numerical example of bearings-only target tracking.


Design Parameter Remote Control GNSS Rotation Matrix Estimate Quality 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Pleiades Publishing, Ltd. 2016

Authors and Affiliations

  1. 1.University of West BohemiaPilsenCzech Republic

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