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arXiv 2103.10475stat.MEcs.SYeess.SY
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基于期望最大化算法的极大似然递推状态估计

Maximum Likelihood Recursive State Estimation using the Expectation Maximization Algorithm

Mohammad S. Ramadan, Robert R. Bitmead

摘要:

针对非线性、非高斯状态空间模型,导出了一种极大似然递推状态估计器。该估计器结合粒子滤波器生成条件密度和期望最大化算法迭代计算极大似然状态估计。提出了极大似然状态滤波、预测和平滑算法。这些算法的收敛性,这是继承自期望最大化算法,证明和检查两个例子。结果表明,随机重新初始化,这是可行的,因为算法简单,这些方法是能够收敛到最大似然估计(MLE)的多峰,截断和偏态密度,以及不相交的支持。

英文摘要:

A Maximum Likelihood recursive state estimator is derived for non-linear and non-Gaussian state-space models. The estimator combines a particle filter to generate the conditional density and the Expectation Maximization algorithm to compute the maximum likelihood state estimate iteratively. Algorithms for maximum likelihood state filtering, prediction and smoothing are presented. The convergence properties of these algorithms, which are inherited from the Expectation Maximization algorithm, are proven and examined in two examples. It is shown that, with randomized reinitialization, which is feasible because of the algorithm simplicity, these methods are able to converge to the Maximum Likelihood Estimate (MLE) of multimodal, truncated and skewed densities, as well as those of disjoint support.

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