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A Relook at the Concepts and Competence of the Kalman Filter

Ananthasayanam, M (2004) A Relook at the Concepts and Competence of the Kalman Filter. In: 42nd AIAA Aerospace Sciences Meeting and Exhibit, 5 - 8 January 2004, Reno, Nevada, pp. 5569-5579.

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The Kalman Filter is one of the most interesting and useful innovations of the twentieth century. A variety of derivations, appreciation, design implementation, and descriptions of the filter equations have been provided in the past.Presently we take a relook at the above features and provide further possible views. The Kalma filter owes its origin to the least squares solution proposed by Gauss. However the scale and magnitude of the many difficult and interesting problems that it has been able to handle could not have been contemplated by Gauss and anticipated by Kalman himself. Due to the seemingly unpretentious fact of splitting the state and measurement equations and switching between the state propagation and its update using the measurements very interesting outcomes have been shown to be possible. Any amount of deep study and understanding of the state or the measurement equations separately may not be able to comprehend the exciting possibilities and abilities when both are combined together. This is similar to the components of a watch, or the cells in an organism leading respectively to the time keeping ability or life which are not existing in the individual components.

Item Type: Conference Paper
Publisher: American Institute of Aeronautics and Astronautics
Additional Information: This article copyright belongs to American Institute of Aeronautics and Astronautics
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 13 Feb 2008
Last Modified: 19 Sep 2010 04:42
URI: http://eprints.iisc.ac.in/id/eprint/13035

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