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Estimation of parameters in a linear state space model using a Rao-Blackwellised particle filter

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3 Author(s)
P. Li ; Dept. of Electron. & Electr. Eng., Loughborough Univ., UK ; R. Goodall ; V. Kadirkamanathan

A Rao-Blackwellised particle filter is used in the estimation of the parameters of a linear stochastic state space model. The proposed method combines the particle filtering technique with a Kalman filter using marginalisation so as to make full use of the analytically tractable structure of the model. Simulation studies are performed on a simple illustrative example and the results demonstrate the effectiveness of the proposed method in comparison with the conventional extended-Kalman-filter-based method. The proposed method is then applied in the estimation of the parameters in a railway vehicle dynamic model for condition monitoring and the desired results have been obtained.

Published in:

IEE Proceedings - Control Theory and Applications  (Volume:151 ,  Issue: 6 )