A Simple Navigation Problem

A Simple Navigation Problem By Marc Sobel, (Statistics) Iyad Obeid and John Montney (Computer and Electrical Engineering)

New Model • Discrete time points t=1,….,n • Observe only angles:

Equations: • Divide up the data into k non-sparse groups. G1,….,Gk. Define weights 0th generation weights π1,0,….,πk,0 Define two equations:Let Z’s be states and O’s be observations:

Assumption • Assumption: Assume that the update step is a mixture of distributions:

Prediction Equation Using equation (3) in equation the prediction equation:

Update Equation • Using equation (4) in equation (2):

Weights • We have that, • Now, it follows as usual with w(i) denoting the weight from the I’th component:

Specify Weights • We put:

Component mixture update • We have the update:

Change components • Change components from Im to Im’.

A Simple Navigation Problem

A Simple Navigation Problem

Presentation Transcript

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