A novel variational Bayesian inference based on adaptive cubature Kalman filter(VBACKF)algorithm is proposed for the problem of state estimation in a target tracking system with time-varying measurement noise and rand...A novel variational Bayesian inference based on adaptive cubature Kalman filter(VBACKF)algorithm is proposed for the problem of state estimation in a target tracking system with time-varying measurement noise and random measurement losses.Firstly,the Inverse-Wishart(IW)distribution is chosen to model the covariance matrix of time-varying measurement noise in the cubature Kalman filter framework.Secondly,the Bernoulli random variable is introduced as the judgement factor of the measurement losses,and the Beta distribution is selected as the conjugate prior distribution of measurement loss probability to ensure that the posterior distribution and prior distribution have the same function form.Finally,the joint posterior probability density function of the estimated variables is approximately decoupled by the variational Bayesian inference,and the fixed-point iteration approach is used to update the estimated variables.The simulation results show that the proposed VBACKF algorithm considers the comprehensive effects of system nonlinearity,time-varying measurement noise and unknown measurement loss probability,moreover,effectively improves the accuracy of target state estimation in complex scene.展开更多
In this paper, the multivariate linear model Y = XB＋e, e ～ Nm×k（0, ImΣ） is considered from the Bayes perspective. Under the normal-inverse Wishart prior for （BΣ）, the Bayes estimators are derived. The sup...In this paper, the multivariate linear model Y = XB＋e, e ～ Nm×k（0, ImΣ） is considered from the Bayes perspective. Under the normal-inverse Wishart prior for （BΣ）, the Bayes estimators are derived. The superiority of the Bayes estimators of B and Σ over the least squares estimators under the criteria of Bayes mean squared error （BMSE） and Bayes mean squared error matrix （BMSEM） is shown. In addition, the Pitman Closeness （PC） criterion is also included to investigate the superiority of the Bayes estimator of B.展开更多
基金Supported by the National Natural Science Foundation of China(No.61976080)the Science and Technology Key Project of Science and TechnologyDepartment of Henan Province(No.212102310298)+1 种基金the Academic Degrees&Graduate Education Reform Project of Henan Province(No.2021SJGLX195Y)the Innovation and Quality Improvement Project for Graduate Education of Henan University(No.SYL20010101)。
文摘A novel variational Bayesian inference based on adaptive cubature Kalman filter(VBACKF)algorithm is proposed for the problem of state estimation in a target tracking system with time-varying measurement noise and random measurement losses.Firstly,the Inverse-Wishart(IW)distribution is chosen to model the covariance matrix of time-varying measurement noise in the cubature Kalman filter framework.Secondly,the Bernoulli random variable is introduced as the judgement factor of the measurement losses,and the Beta distribution is selected as the conjugate prior distribution of measurement loss probability to ensure that the posterior distribution and prior distribution have the same function form.Finally,the joint posterior probability density function of the estimated variables is approximately decoupled by the variational Bayesian inference,and the fixed-point iteration approach is used to update the estimated variables.The simulation results show that the proposed VBACKF algorithm considers the comprehensive effects of system nonlinearity,time-varying measurement noise and unknown measurement loss probability,moreover,effectively improves the accuracy of target state estimation in complex scene.
基金Supported by National Natural Science Foundation of China(Grant Nos.11201005,11071015)the Foundation of National Bureau of Statistics(Grant No.2013LZ17)the Natural Science Foundation of Anhui Province(Grant No.1308085QA13)
文摘In this paper, the multivariate linear model Y = XB＋e, e ～ Nm×k（0, ImΣ） is considered from the Bayes perspective. Under the normal-inverse Wishart prior for （BΣ）, the Bayes estimators are derived. The superiority of the Bayes estimators of B and Σ over the least squares estimators under the criteria of Bayes mean squared error （BMSE） and Bayes mean squared error matrix （BMSEM） is shown. In addition, the Pitman Closeness （PC） criterion is also included to investigate the superiority of the Bayes estimator of B.
