{"id":"https://openalex.org/W3155354652","doi":"https://doi.org/10.1109/ieeeconf51394.2020.9443571","title":"On Parametric Model Mismatch in Nonlinear EKF Approximations","display_name":"On Parametric Model Mismatch in Nonlinear EKF Approximations","publication_year":2020,"publication_date":"2020-11-01","ids":{"openalex":"https://openalex.org/W3155354652","doi":"https://doi.org/10.1109/ieeeconf51394.2020.9443571","mag":"3155354652"},"language":"en","primary_location":{"id":"doi:10.1109/ieeeconf51394.2020.9443571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf51394.2020.9443571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 54th Asilomar Conference on Signals, Systems, and Computers","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/341216","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001633391","display_name":"Homeyra Khaledian","orcid":"https://orcid.org/0000-0002-4488-2637"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Homeyra Khaledian","raw_affiliation_strings":["Universitat Politècnica de Catalunya (UPC),Barcelona,Spain"],"affiliations":[{"raw_affiliation_string":"Universitat Politècnica de Catalunya (UPC),Barcelona,Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052097693","display_name":"Jordi Vil\u00e0\u2010Valls","orcid":"https://orcid.org/0000-0001-7858-4171"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jordi Vila-Valls","raw_affiliation_strings":["University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM,Toulouse,France","University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM,Toulouse,France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I193033237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051195246","display_name":"\u00c9ric Chaumette","orcid":"https://orcid.org/0000-0002-7029-3019"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210139096","display_name":"National Higher French Institute of Aeronautics and Space","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210139096"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eric Chaumette","raw_affiliation_strings":["University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM,Toulouse,France","University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM,Toulouse,France","institution_ids":["https://openalex.org/I4210139096"]},{"raw_affiliation_string":"University of Toulouse/ISAE-SUPAERO, DEOS/NAVCOM, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I193033237"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003728401","display_name":"Xavier Prats","orcid":"https://orcid.org/0000-0003-3717-4701"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Xavier Prats","raw_affiliation_strings":["Universitat Politècnica de Catalunya (UPC),Barcelona,Spain"],"affiliations":[{"raw_affiliation_string":"Universitat Politècnica de Catalunya (UPC),Barcelona,Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001633391"],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":0.4059,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71806148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"20","issue":null,"first_page":"1486","last_page":"1490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6944979429244995},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6735092401504517},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6648576259613037},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6015071272850037},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5705044865608215},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.545511782169342},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5257633328437805},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.49840545654296875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4912070631980896},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.48132216930389404},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.4548805356025696},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4324415922164917},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42120814323425293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3432355523109436},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.23132753372192383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12603354454040527}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6944979429244995},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6735092401504517},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6648576259613037},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6015071272850037},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5705044865608215},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.545511782169342},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5257633328437805},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.49840545654296875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4912070631980896},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.48132216930389404},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.4548805356025696},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4324415922164917},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42120814323425293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3432355523109436},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.23132753372192383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12603354454040527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ieeeconf51394.2020.9443571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf51394.2020.9443571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 54th Asilomar Conference on Signals, Systems, and Computers","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/341216","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/341216","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/341216","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/341216","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320316851","display_name":"KT","ror":"https://ror.org/043n4tt17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1538882755","https://openalex.org/W1602197575","https://openalex.org/W1603631609","https://openalex.org/W2054091988","https://openalex.org/W2294875987","https://openalex.org/W2502569300","https://openalex.org/W2790374560","https://openalex.org/W2889312533","https://openalex.org/W2986609368"],"related_works":["https://openalex.org/W2162299404","https://openalex.org/W2103062922","https://openalex.org/W1035502194","https://openalex.org/W2182059946","https://openalex.org/W2164404293","https://openalex.org/W4206024512","https://openalex.org/W2966342863","https://openalex.org/W2483158495","https://openalex.org/W2900391131","https://openalex.org/W1657752397"],"abstract_inverted_index":{"Standard":[0],"state":[1],"estimation":[2],"techniques,":[3],"either":[4],"for":[5,52,85],"linear":[6],"or":[7],"non-linear":[8],"systems,":[9],"typically":[10],"assume":[11],"a":[12,38,45,74],"perfect":[13],"knowledge":[14,36],"of":[15,73],"the":[16,25,53,66,86,94,103],"system,":[17],"i.e.,":[18],"known":[19],"process":[20],"and":[21,24,37,56,82,89],"measurement":[22],"functions,":[23,81],"corresponding":[26],"noise":[27],"statistics.":[28],"The":[29],"filter":[30,71],"performance":[31,47],"strongly":[32],"depends":[33],"on":[34,78],"such":[35],"possible":[39],"model":[40,76],"mismatch":[41,77],"may":[42],"lead":[43],"to":[44,101],"significant":[46],"degradation,":[48],"but":[49],"closed-form":[50],"expressions":[51,84],"resulting":[54],"bias":[55,88],"co-variance":[57],"are":[58],"not":[59],"available.":[60],"In":[61],"this":[62],"contribution":[63],"we":[64],"explore":[65],"impact":[67],"in":[68],"extended":[69],"Kalman":[70],"approximations":[72],"parametric":[75],"both":[79],"system":[80],"provide":[83],"estimator":[87],"covariance":[90],"error":[91],"induced":[92],"by":[93],"mismatch.":[95],"An":[96],"illustrative":[97],"example":[98],"is":[99],"shown":[100],"support":[102],"discussion.":[104]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}