New Grid for Particle Filtering of Multivariable Nonlinear Objects

In the paper a new grid (potentially linear, nonlinear and even semi-Markovian jump system) was presented. All transition and measurement functions were proposed. Moreover, the transition functions of two types were considered - dependent on one and many different state variables. Also 10 types of measurements were proposed for both nodal and branch cases. Based on the obtained results one can see, which measurement functions are “easy”, and which are “hard” for state estimation task.