The epoch-state filter is a recursive sequential estimator that maintains its state estimate and associated covariance at a fixed time known as the epoch, avoiding the need to propagate the covariance between measurements. Instead, the filter maps measurement innovations from the measurement time to the epoch time, in a fashion similar to a batch estimator. When process noise is present, the epoch time must follow all but at most the penultimate measurement. Revisiting the topic, this paper contributes several variations, including a factorized form, a factorized information form, and sigma-point versions, and provides a number of clarifying illustrative examples.


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    Titel :

    The Epoch-State Filter, Revisited


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2023-03-09


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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