A generalized Kalman filter with its precision in recursive form when the stochastic model is misspecified
P. J G Teunissen (TU Delft - Mathematical Geodesy and Positioning, Curtin University, University of Melbourne)
A. Khodabandeh (University of Melbourne)
D. Psychas (TU Delft - Mathematical Geodesy and Positioning)
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Abstract
In this contribution, we introduce a generalized Kalman filter with precision in recursive form when the stochastic model is misspecified. The filter allows for a relaxed dynamic model in which not all state vector elements are connected in time. The filter is equipped with a recursion of the actual error-variance matrices so as to provide an easy-to-use tool for the efficient and rigorous precision analysis of the filter in case the underlying stochastic model is misspecified. Different mechanizations of the filter are presented, including a generalization of the concept of predicted residuals as needed for the recursive quality control of the filter.
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