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Comments on “Canonical transform for tracking with kinematicmodels” and reply

机译:评论“用于运动模型跟踪的规范变换”并回复

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摘要

The author comments on the work of X. Rong Li (ibid. vol. 33, pp. 1212-24, 1997) in which it is mentioned that since the kinematic models are completely observable and controllable, the Kalman filter is stable and will converge to its steady state with a constant filter gain. Alternatively, a simpler implementation is to use directly a Kalman filter with the steady-state gain from the very beginning. It is contended that these statements are debatable. Rong Li replies to the comments
机译:作者评论了X. Rong Li的工作(同上,第33卷,第1212-24页,1997年),其中提到,由于运动学模型是完全可观测和可控制的,因此卡尔曼滤波器是稳定的并且会收敛保持恒定的滤波器增益。替代地,更简单的实现是从一开始就直接使用具有稳态增益的卡尔曼滤波器。认为这些说法值得商bat。李荣回复评论

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