论文标题
平均田间合奏Kalman滤波器:近高斯环境
The Mean Field Ensemble Kalman Filter: Near-Gaussian Setting
论文作者
论文摘要
集合卡尔曼滤波器被广泛用于应用中,因为对于高维滤波问题,它具有鲁棒性,例如粒子滤波器没有共享。特别是它不会遭受体重崩溃的困扰。但是,除了高斯环境外,没有理论将其准确性量化为真实过滤分布的近似值。为了解决这个问题,我们将首先分析集合卡尔曼过滤器的准确性超出高斯环境。我们证明了两种结果:第一种类型包括稳定性估计值,该稳定性根据真正的过滤分布与附近的高斯(Gaussian)之间的差异来控制集合卡尔曼过滤器造成的误差;第二种类型的使用这种稳定性结果表明,在高斯问题附近,集合卡尔曼滤波器与真实的过滤分布相比,卡尔曼过滤器造成了一个小错误。我们的分析是针对平均集合卡尔曼滤波器开发的。我们根据概率度量的地图重写了此过滤器和真实过滤分布的更新方程。我们引入了一个加权总变异指标,以估计两个过滤器之间的距离,并在此度量标准中证明了定义两个过滤器演变的地图的各种稳定性估计值。使用这些稳定性估计值,我们证明了第一类类型的结果,在加权总变异度量中。我们还向高斯投影过滤器提供了这些结果的概括,该过滤器可以看作是无意义的卡尔曼滤波器的平均字段描述。
The ensemble Kalman filter is widely used in applications because, for high dimensional filtering problems, it has a robustness that is not shared for example by the particle filter; in particular it does not suffer from weight collapse. However, there is no theory which quantifies its accuracy as an approximation of the true filtering distribution, except in the Gaussian setting. To address this issue we provide the first analysis of the accuracy of the ensemble Kalman filter beyond the Gaussian setting. We prove two types of results: the first type comprise a stability estimate controlling the error made by the ensemble Kalman filter in terms of the difference between the true filtering distribution and a nearby Gaussian; and the second type use this stability result to show that, in a neighbourhood of Gaussian problems, the ensemble Kalman filter makes a small error, in comparison with the true filtering distribution. Our analysis is developed for the mean field ensemble Kalman filter. We rewrite the update equations for this filter, and for the true filtering distribution, in terms of maps on probability measures. We introduce a weighted total variation metric to estimate the distance between the two filters and we prove various stability estimates for the maps defining the evolution of the two filters, in this metric. Using these stability estimates we prove results of the first and second types, in the weighted total variation metric. We also provide a generalization of these results to the Gaussian projected filter, which can be viewed as a mean field description of the unscented Kalman filter.