Journal article

A generalized Kalman filter with its precision in recursive form when the stochastic model is misspecified

PJG Teunissen, A Khodabandeh, D Psychas

Journal of Geodesy | Published : 2021

Abstract

In this contribution, we introduce a generalized Kalman filter with precision in recursive form when the stochastic model is misspecified. The filter allows for a relaxed dynamic model in which not all state vector elements are connected in time. The filter is equipped with a recursion of the actual error-variance matrices so as to provide an easy-to-use tool for the efficient and rigorous precision analysis of the filter in case the underlying stochastic model is misspecified. Different mechanizations of the filter are presented, including a generalization of the concept of predicted residuals as needed for the recursive quality control of the filter.

University of Melbourne Researchers