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Kalman Filtering Tutorial

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Formulating a <strong>Kalman</strong> Filter<br />

Problem<br />

We require discrete time linear dynamic system description by vector<br />

difference equation with additive white noise that models unpredictable<br />

disturbances.<br />

STATE DEFINITION - the state of a deterministic dynamic system is the<br />

smallest vector that summarises the past of the system in full.<br />

Knowledge of the state allows theoretically prediction of the future (and prior)<br />

dynamics and outputs of the deterministic system in the absence of noise.<br />

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