This book describes the classical smoothing, filtering and prediction techniques together with some more recently developed embellishments for improving performance within applications. It aims to present the subject in an accessible way, so that it can serve as a practical guide for undergraduates and newcomers to the field. The material is organised as a ten-lecture course. The foundations are laid in Chapters 1 and 2, which explain minimum-mean-square-error solution construction and asymptotic behaviour. Chapters 3 and 4 introduce continuous-time and discrete-time minimum-variance filtering. Generalisations for missing data, deterministic inputs, correlated noises, direct feedthrough terms, output estimation and equalisation are described. Chapter 5 simplifies the minimum-variance filtering results for steady-state problems. Observability, Riccati equation solution convergence, asymptotic stability and Wiener filter equivalence are discussed. Chapters 6 and 7 cover the subject of continuous-time and discrete-time smoothing. The main fixed-lag, fixed-point and fixed-interval smoother results are derived. It is shown that the minimum-variance fixed-interval smoother attains the best performance. Chapter 8 attends to parameter estimation. As the above-mentioned approaches all rely on knowledge of the underlying model parameters, maximum-likelihood techniques within expectation-maximisation algorithms for joint state and parameter estimation are described. Chapter 9 is concerned with robust techniques that accommodate uncertainties within problem specifications. An extra term within Riccati equations enables designers to trade-off average error and peak error performance. Chapter 10 rounds off the course by applying the afore-mentioned linear techniques to nonlinear estimation problems. It is demonstrated that step-wise linearisations can be used within predictors, filters and smoothers, albeit by forsaking optimal performance guarantees.

Computer application techniques are applied to routine short-term forecasting and prediction in this classic of operations research. The text begins with a consideration of data sources and sampling intervals, progressing to discussions of time series models and probability models. An extensive overview of smoothing techniques surveys the mathematical techniques for periodically raising the estimates of coefficients in forecasting problems. Sections on forecasting and error measurement and analysis are followed by an exploration of alternatives and the applications of the forecast to specific problems, and a treatment of the handling of systems design problems ranges from observed data to decision rules. 1963 ed.

Estimation theory is a product of need and technology. As a result, it is an integral part of many branches of science and engineering. To help readers differentiate among the rich collection of estimation methods and algorithms, this book describes in detail many of the important estimation methods and shows how they are interrelated. Written as a collection of lessons, this book introduces readers o the general field of estimation theory and includes abundant supplementary material.

A unified Bayesian treatment of the state-of-the-art filtering, smoothing, and parameter estimation algorithms for non-linear state space models.

The International Symposium on Marine Positioning (INSMAP) was conceived by the Marine Geodesy Committee at OCEANS 84, Washington, DC. It became clear at that time, that timing is appropriate to focus attention on individual specific problem areas under the broad umbrella of Marine Geodesy. After scheduling INSMAP 86 by the Marine Technology Society, we were fortunate to generate strong support from our co-sponsor s. All their assis tance and support are gra tefully acknowledged. Our special thanks are expressed to the U.S. Geological Survey; Charting and Geodetic Services, NOS/NOAA; Office of Naval Research, and Naval Ocean Research and Development Activity for their support through financial grants (ONR No. N00014-86-G-0107, NOS/NOAA No. 40AANC601637, and USGS No. 14-08-0001-G1207) as par tial funding to the INS MAP 86. We are al so gra teful to the U.S. Geological Survey for providing the auditorium and other logistic support in making the symposium a success. A total of 165 persons attended INSMAP 86, of which 20 percent were from outside the United States. Nine technical sessions and five special workshops were held wi thin a four-day forma t. Invited speakers included Dr. Alan Berman, Dean, Rosensteil School of Marine and Atmospheric Sciences; RADM J. R. Seeshol tz, Oceanographer of the U.S. Navy; RADM John D. Bossler, Director of Charting and Geodetic Services, NOS/NOAA; Mr. Chris von Al t, Woods Hole Oceanographic Institute; and RADM L. H. van Opstal, Hydrographer of the Royal Dutch Navy.

Geodesy: The Concepts, Second Edition focuses on the processes, approaches, and methodologies employed in geodesy, including gravity field and motions of the earth and geodetic methodology. The book first underscores the history of geodesy, mathematics and geodesy, and geodesy and other disciplines. Discussions focus on algebra, geometry, statistics, symbolic relation between geodesy and other sciences, applications of geodesy, and the historical beginnings of geodesy. The text then ponders on the structure of geodesy, as well as functions of geodesy and geodetic theory and practice. The publication examines the motions, gravity field, deformations in time, and size and shape of earth. Topics include tidal phenomena, tectonic deformations, actual shape of the earth, gravity anomaly and potential, and observed polar motion and spin velocity variations. The elements of geodetic methodology, classes of mathematical models, and formulation and solving of problems are also mentioned. The text is a dependable source of data for readers interested in the concepts involved in geodesy.