Filtering and tracking with trinion-valued adaptive algorithms

Abstract

A new model for three-dimensional processes based on the trinion algebra is introduced for the first time. Compared to the pure quaternion model, the trinion model is more compact and computationally more efficient, while having similar or comparable performance in terms of adaptive linear filtering. Moreover, the trinion model can effectively represent the general relationship of state evolution in Kalman filtering, where the pure quaternion model fails. Simulations on real-world wind recordings and synthetic data sets are provided to demonstrate the potential of this new modeling method.

Keywords

Three-dimensional processes / Trinion / Least mean squares / Kalman filter

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2016 Zhejiang University and Springer-Verlag Berlin Heidelberg