MSE-optimal measurement dimension reduction in Gaussian filtering*


We present a framework for measurement dimension reduction in Gaussian filtering, defined in terms of a linear operator acting on the measurement vector. This operator is optimized to minimize the Cramer–Rao bound of the estimate’s mean squared error (MSE), yielding a measurement subspace from which elements minimally worsen the filter MSE performance, as compared to filtering with the original measurements. This is demonstrated with Kalman filtering in a linear Gaussian setting and various non-linear Gaussian filters with an on-line adaption of the operator. The proposed method improves computational time in exchange for a quantifiable and sometimes negligibly worsened MSE of the estimate


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    •  AWARD    Best Student Paper Award at the IEEE Conference on Control Technology and Applications
      Date: August 26, 2020
      Awarded to: Marcus Greiff, Anders Robertsson, Karl Berntorp
      MERL Contact: Karl Berntorp
      Research Areas: Control, Signal Processing
      • Marcus Greiff, a former MERL intern from the Department of Automatic Control, Lund University, Sweden, won one of three 2020 CCTA Outstanding Student Paper Awards and the Best Student Paper Award at the 2020 IEEE Conference on Control Technology and Applications. The research leading up to the awarded paper titled 'MSE-Optimal Measurement Dimension Reduction in Gaussian Filtering', concerned how to select a reduced set of measurements in estimation applications while minimally degrading performance, was done in collaboration with Karl Berntorp at MERL.