Detection of a bias level in prediction errors due to input accelerations

입력 가속에서 비롯된 innovation 바이어스 레벨의 검출

In this paper the normalized innovations squared of a Kalman filter is used to detect a bias level in prediction errors due to target accelerations. The probability density function of the normalized innovation squared is obtained for a steady state Kalman filter, and it is used to calculate the detection probability of the bias level. A typical example is given to compute the detection probability.