Discrete–time nonlinear filtering with marked point process observations: ii. risk–sensitive filters

Abstract

We discuss in this article the risk–sensitive filtering problem of estimating a nonlinear signal process, with nonadditive non–Gaussian noise, via a marked point process observation. This extends to the risk sensitive case all the risk–neutral results studied in Dufour and Kannan [2].By going into a change of measure, we derive the unnormalized conditional density of the signal conditioned on the observation history. We also derive the unnormalized prediction density. Using these, we present two separate expressions for the optimal estimate of the signal. A similar analysis of the smoothing density of the signal is also studied under both the risk–sensitive and risk–neutral cases. We specialize the above optimal estimation to the linear signal dynamics and marked point process observation under some Gaussian assumptions. We obtain a Kalman type risk-sensitive filter. Due to the special nature of the observation process, the conditional mean and covariance estimates directly depend now on the point process