Journal
IEEE SIGNAL PROCESSING LETTERS
Volume 22, Issue 12, Pages 2450-2454Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LSP.2015.2490543
Keywords
Adaptive smoothing; Kalman filtering; noise covariance; Rauch-Tung-Striebel smoother; sensor calibration; time-varying noise covariances; variational Bayes
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Funding
- Swedish research council (VR)
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We present an adaptive smoother for linear state-space models with unknown process and measurement noise covariances. The proposed method utilizes the variational Bayes technique to perform approximate inference. The resulting smoother is computationally efficient, easy to implement, and can be applied to high dimensional linear systems. The performance of the algorithm is illustrated on a target tracking example.
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