The objective of this paper is to accurately determine mobile robots' position and orientation by integrating information received from odometry and an inertial sensor. The position and orientation provided by odometry are subject to different types of errors. To improve the odometry, an inertial measurement unit is exploited to give more reliable attitude information. However, the nonlinear dynamic of these systems and their complexities such as different sources of errors make navigation difficult. Since the dynamic models of navigation systems are nonlinear in practice, in this study, a Cubature Kalman Filter (CKF) has been proposed to estimate and correct the errors of these systems. The information from odometry and a gyroscope are integrated using a CKF. Simulation results are provided to illustrate the superiority and the higher reliability of the proposed approach in comparison with conventional nonlinear filtering algorithms such as an Extended Kalman Filter (EKF).

We establish conditions for an exponential rate of forgetting of the initial distribution of nonlinear filters in V-norm, allowing for unbounded test functions. The analysis is conducted in an general setup involving nonnegative kernels in a random environment which allows treatment of filters and prediction filters in a single framework. The main result is illustrated on two examples, the first showing that a total variation norm stability result obtained by Douc et al. (2009) can be extended to V-norm without any additional assumptions, the second concerning a situation in which forgetting of the initial condition holds in V-norm for the filters, but the V-norm of each prediction filter is infinite.

The Unscented Kalman Filter (UKF) is a well-known nonlinear state estimation method. It shows superior performance at nonlinear estimation compared to the Extended Kalman Filter (EKF). This paper is devoted to an investigation between UKF and EKF with different feedback control modes in vehicle navigation. Theoretical formulation, simulation and field tests have been carried out to compare the performance of UKF and EKF. The simulation and test results demonstrate that the estimated state of a UKF relies on the measurements and is less sensitive to historical model information. The results also indicate that UKF has benefits for prototype model design due to avoidance of calculation of a Jacobian matrix. EKF, however, is more computationally efficient and more stable.

Nonlinear filtering is investigated in a system where both the signal system and the observation system are under non-Gaussian Lévy fluctuations. Firstly, the Zakai equation is derived, and it is further used to derive the Kushner-Stratonovich equation. Secondly, by a filtered martingale problem, uniqueness for strong solutions of the Kushner-Stratonovich equation and the Zakai equation is proved. Thirdly, under some extra regularity conditions, the Zakai equation for the unnormalized density is also derived in the case of α-stable Lévy noise.

Onwards from the mid-twentieth century, the stochastic filtering problem has caught the attention of thousands of mathematicians, engineers, statisticians, and computer scientists. Its applications span the whole spectrum of human endeavour, including satellite tracking, credit risk estimation, human genome analysis, and speech recognition. Stochastic filtering has engendered a surprising number of mathematical techniques for its treatment and has played an important role in the development of new research areas, including stochastic partial differential equations, stochastic geometry, rough paths theory, and Malliavin calculus. It also spearheaded research in areas of classical mathematics, such as Lie algebras, control theory, and information theory. The aim of this paper is to give a brief historical account of the subject concentrating on the continuous-time framework.

To filter perturbed local measurements on a random medium, a dynamic model jointly with an observation transfer equation are needed. Some media given by PDE could have a local probabilistic representation by a Lagrangian stochastic process with mean-field interactions. In this case, we define the acquisition process of locally homogeneous medium along a random path by a Lagrangian Markov process conditioned to be in a domain following the path and conditioned to the observations. The nonlinear filtering for the mobile signal is therefore those of an acquisition process contaminated by random errors. This will provide a Feynman-Kac distribution flow for the conditional laws and an N particle approximation with a $\mathcal{O}$ $(\frac{1}{\sqrt{N}})$ asymptotic convergence. An application to nonlinear filtering for 3D atmospheric turbulent fluids will be described.

Particle filters are Monte Carlo methods that aim to approximate the optimal filter of a partially observed Markov chain. In this paper, we study the case in which the transition kernel of the Markov chain depends on unknown parameters: we construct a particle filter for the simultaneous estimation of the parameter and the partially observed Markov chain (adaptive estimation) and we prove the convergence of this filter to the correct optimal filter, as time and the number of particles go to infinity. The filter presented here generalizes Del Moral's Monte Carlo particle filter.

We consider a parametrization of the Heath-Jarrow-Morton (HJM) family of term structure of interest rate models that allows a finite-dimensional Markovian representation of the stochastic dynamics. This parametrization results from letting the volatility function depend on time to maturity and on two factors: the instantaneous spot rate and one fixed-maturity forward rate. Our main purpose is an estimation methodology for which we have to model the observations under the historical probability measure. This leads us to consider as an additional third factor the market price of interest rate risk, that connects the historical and the HJM martingale measures. Assuming that the information comes from noisy observations of the fixed-maturity forward rate, the purpose is to estimate recursively, on the basis of this information, the three Markovian factors as well as the parameters in the model, in particular those in the volatility function. This leads to a nonlinear filtering problem, for the solution of which we describe an approximation methodology, based on time discretization and quantization. We prove the convergence of the approximate filters for each of the observed trajectories.

Olivier and Walrand (1994) claimed that the departure process of an MMPP/M/1 queue is not an MAP unless the queue is a stationary M/M/1 queue. They also conjectured that the departure process of an MAP/PH/1 queue is not an MAP unless the queue is a stationary M/M/1 queue. We show that their proof of the first result has an algebraic error, which leaves open the above question of whether the departure process of an MMPP/M/1 can be an MAP.