Recursive self-tuning algorithm for adaptive Kalman filtering

A new recursive algorithm for adaptive Kalman filtering is proposed. The signal state-space model and its noise statistics are assumed to depend on an unknown parameter taking values in a subset [', '] of Rs. The parameter is estimated recursively using the gradient of the innovation sequence of the Kalman filter. The unknown parameter is replaced by its current estimate in the Kalman-filtering algorithm. The asymptotic properties of the adaptive Kalman filter are discussed.