Limiting Optimal Adaptive Filtering with Unknown Disturbance Covariance

The accuracy of estimating the variance of the Kalman-Bucy filter depends essentially on disturbance covariance matrices and measurement noise. The main difficulty in filter design is the lack of necessary statistical information about the useful signal and the disturbance. Filters whose parameters are tuned during active estimation are classified with adaptive filters. The problem of adaptive filtering under parametric uncertainty conditions is studied. A method for designing limiting optimal Kalman-Bucy filters in the case of unknown disturbance covariance is presented. An adaptive algorithm for estimating disturbance covariance matrices based on stochastic approximation is described. Convergence conditions for this algorithm are investigated. The operation of a limiting adaptive filter is exemplified.