Lecture

Kalman Filter: Linearized Models

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In course

ENV-548: Sensor orientation

Determination of spatial orientation (i.e. position, velocity, attitude) via integration of inertial sensors with satellite positioning. Prerequisite for applications related to remote sensing, environmental monitoring, mobile mapping, robotics, space expl ...

Description

This lecture covers the linearized and non-linear models of the Kalman Filter, including the observation model and dynamic model. It explains the use of Jacobians in the Kalman Filter algorithm and how to apply it to different types of systems.

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Instructor

Jan Skaloud

Expertise Satellite positioning, inertial and integrated navigation Sensor orientation and calibration, attitude determination Mobile mapping, airborne laser scanning Adjustment methods, Kalman Filtering Mission Teaching in 3 EPFL sections and 2 faculties, director of ESO lab. Books / Monographs J. Skaloud and M. Cramer, «Data Capture,» in GIS Handbook, W. Kresse and D. Danko, Eds. Springer, 2011. D. Lichti and J. Skaloud, «Registration and Calibration,» in Airborne and terrestrial laser scanning, H.-G. Ma

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Related concepts (14)

Generalized linear model

In statistics, a generalized linear model (GLM) is a flexible generalization of ordinary linear regression. The GLM generalizes linear regression by allowing the linear model to be related to the response variable via a link function and by allowing the magnitude of the variance of each measurement to be a function of its predicted value. Generalized linear models were formulated by John Nelder and Robert Wedderburn as a way of unifying various other statistical models, including linear regression, logistic regression and Poisson regression.

Linear regression

In statistics, linear regression is a linear approach for modelling the relationship between a scalar response and one or more explanatory variables (also known as dependent and independent variables). The case of one explanatory variable is called simple linear regression; for more than one, the process is called multiple linear regression. This term is distinct from multivariate linear regression, where multiple correlated dependent variables are predicted, rather than a single scalar variable.

Generalized linear mixed model

In statistics, a generalized linear mixed model (GLMM) is an extension to the generalized linear model (GLM) in which the linear predictor contains random effects in addition to the usual fixed effects. They also inherit from GLMs the idea of extending linear mixed models to non-normal data. GLMMs provide a broad range of models for the analysis of grouped data, since the differences between groups can be modelled as a random effect. These models are useful in the analysis of many kinds of data, including longitudinal data.

Linear model

In statistics, the term linear model is used in different ways according to the context. The most common occurrence is in connection with regression models and the term is often taken as synonymous with linear regression model. However, the term is also used in time series analysis with a different meaning. In each case, the designation "linear" is used to identify a subclass of models for which substantial reduction in the complexity of the related statistical theory is possible.

Multilevel model

Multilevel models (also known as hierarchical linear models, linear mixed-effect model, mixed models, nested data models, random coefficient, random-effects models, random parameter models, or split-plot designs) are statistical models of parameters that vary at more than one level. An example could be a model of student performance that contains measures for individual students as well as measures for classrooms within which the students are grouped.

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