Smoothing algorithms for nonlinear finite-dimensional systems

Abstract

Systems are considered where the state evolves either as a diffusion process or as a finitestate Markov process, and the measurement process consists either of a nonlinear function of the state with additive white noise or as a counting process with intensity dependent on the state. Fixed interval smooting is considered, and the first main result obtained expresses a smoothing probability or a probability density symmetrically in terms of forward filtered, reverse-time filterd and unfiltered quantities; an associated result replaces the unfiltered and reverse-time filtered qauantities by a likelihood function. Then stochastic differential equationsare obtained for the evolution of the reverse-time filtered probability or probability density and the reverse-time likelihood function. Lastly, a partial differential equation is obtained linking smoothed and forward filterd probabilities or probability densities; in all instances considered, this equation is not driven by any measurement process. The different...