Publica
Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Semianalytic Gaussian assumed density filter
 American Automatic Control Council AACC: American Control Conference, ACC 2011 : San Francisco, California, USA, 29 June  1 July 2011 Piscataway, NJ: IEEE, 2011 ISBN: 9781457700804 ISBN: 9781457700811 pp.30063011 
 American Control Conference (ACC) <2011, San Francisco/Calif.> 

 English 
 Conference Paper 
 Fraunhofer IOSB () 
Abstract
For Gaussian Assumed Density Filtering based on moment matching, a framework for the efficient calculation of posterior moments is proposed that exploits the structure of the given nonlinear system. The key idea is a careful discretization of some dimensions of the state space only in order to decompose the system into a set of nonlinear subsystems that are conditionally integrable in closed form. This approach is more efficient than full discretization approaches. In addition, the new decomposition is far more general than known RaoBlackwellization approaches relying on conditionally linear subsystems. As a result, the new framework is applicable to a much larger class of nonlinear systems.