Kalman Filtering With Intermittent Observations: Weak Convergence to a Stationary Distribution

DOI10.1109/TAC.2011.2161834zbMATH Open1369.93630arXiv0903.2890OpenAlexW2962991637MaRDI QIDQ5352709FDOQ5352709

Bruno Sinopoli, Soummya Kar, José M. F. Moura

Publication date: 8 September 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: The paper studies the asymptotic behavior of Random Algebraic Riccati Equations (RARE) arising in Kalman filtering when the arrival of the observations is described by a Bernoulli i.i.d. process. We model the RARE as an order-preserving, strongly sublinear random dynamical system (RDS). Under a sufficient condition, stochastic boundedness, and using a limit-set dichotomy result for order-preserving, strongly sublinear RDS, we establish the asymptotic properties of the RARE: the sequence of random prediction error covariance matrices converges weakly to a unique invariant distribution, whose support exhibits fractal behavior. In particular, this weak convergence holds under broad conditions and even when the observations arrival rate is below the critical probability for mean stability. We apply the weak-Feller property of the Markov process governing the RARE to characterize the support of the limiting invariant distribution as the topological closure of a countable set of points, which, in general, is not dense in the set of positive semi-definite matrices. We use the explicit characterization of the support of the invariant distribution and the almost sure ergodicity of the sample paths to easily compute the moments of the invariant distribution. A one dimensional example illustrates that the support is a fractured subset of the non-negative reals with self-similarity properties.

Full work available at URL: https://arxiv.org/abs/0903.2890

Mathematics Subject Classification ID

Inference from stochastic processes and prediction (62M20) Filtering in stochastic control theory (93E11) Central limit and other weak theorems (60F05)

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