方法对比
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| 卡尔曼滤波器× | 顺序蒙特卡洛× | |
|---|---|---|
| 领域 | 贝叶斯 | 贝叶斯 |
| 方法族 | Bayesian methods | Bayesian methods |
| 起源年份≠ | 1960 | 1993 (particle filter); 2006 (SMC samplers) |
| 提出者≠ | Rudolf E. Kalman | Gordon, Salmond & Smith (particle filter); Del Moral, Doucet & Jasra (SMC samplers) |
| 类型≠ | recursive Bayesian filter | Sequential Bayesian computation |
| 开创性文献≠ | Kalman, R. E. (1960). A new approach to linear filtering and prediction problems. Journal of Basic Engineering, 82(1), 35-45. DOI ↗ | Gordon, N. J., Salmond, D. J., & Smith, A. F. M. (1993). Novel approach to nonlinear/non-Gaussian Bayesian state estimation. IEE Proceedings F - Radar and Signal Processing, 140(2), 107–113. DOI ↗ |
| 别名 | linear quadratic estimator, LQE, Kalman-Bucy filter, optimal recursive filter | SMC, particle filter, sequential importance resampling, SMC sampler |
| 相关≠ | 5 | 6 |
| 摘要≠ | The Kalman filter is an optimal recursive algorithm for estimating the hidden state of a linear dynamical system from noisy measurements. At each time step it alternates between a prediction step — projecting the state forward using the system model — and an update step that corrects the prediction with the new observation, producing minimum-variance state estimates and their uncertainty in real time. | Sequential Monte Carlo (SMC) is a family of simulation-based algorithms that approximate evolving probability distributions by propagating and reweighting a cloud of weighted random draws called particles. It handles nonlinear, non-Gaussian models and streams of data naturally, making it the method of choice for real-time state estimation and posterior approximation over complex distributions. |
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