Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In this note, stability of the projection-based constrained discrete time extended Kalman filter (EKF) when applied to deterministic nonlinear systems has been studied. It is proved that, like the unconstrained case, under certain assumptions, the EKF with state equality constraints is an exponential observer, i.e., it keeps the dynamics of its estimation error exponentially stable. Also, it has been shown that a simple modification to the general definition of the EKF with exponential ighting increases the filter's degree of stability and convergence speed with or without state constraints.
['Esin Köksal Babacan', 'Levent Özbek', 'Murat Efe']
I am writing a research paper on a idea Stability of the Extended Kalman Filter When the States are Constrained
[{"from": "human", "value": "I am writing a research paper on a idea Stability of the Extended Kalman Filter When the States are Constrained"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In this note, stability of the projection-based constrained discrete time extended Kalman filter (EKF) when applied to deterministic nonlinear systems has been studied. It is proved that, like the unconstrained case, under certain assumptions, the EKF with state equality constraints is an exponential observer, i.e., it keeps the dynamics of its estimation error exponentially stable. Also, it has been shown that a simple modification to the general definition of the EKF with exponential ighting increases the filter's degree of stability and convergence speed with or without state constraints."}]