方法对比
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| 粒子滤波器（序贯蒙特卡洛）× | 卡尔曼滤波器× | |
|---|---|---|
| 领域 | 贝叶斯 | 贝叶斯 |
| 方法族 | Bayesian methods | Bayesian methods |
| 起源年份≠ | 1993 | 1960 |
| 提出者≠ | Gordon, Salmond & Smith | Rudolf E. Kalman |
| 类型≠ | Sequential Monte Carlo estimator | recursive Bayesian filter |
| 开创性文献≠ | 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 ↗ | Kalman, R. E. (1960). A new approach to linear filtering and prediction problems. Journal of Basic Engineering, 82(1), 35-45. DOI ↗ |
| 别名≠ | SMC, sequential Monte Carlo, bootstrap filter, condensation algorithm | linear quadratic estimator, LQE, Kalman-Bucy filter, optimal recursive filter |
| 相关≠ | 4 | 5 |
| 摘要≠ | The particle filter, introduced by Gordon, Salmond, and Smith in 1993, is a sequential Monte Carlo algorithm that approximates the Bayesian filtering distribution for nonlinear and non-Gaussian state-space models. Rather than tracking a single best estimate, it maintains a cloud of N weighted random samples — particles — that collectively represent the full posterior distribution of a hidden state at each point in time as new observations arrive. | 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. |
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