Incorporating Transformer and LSTM to Kalman Filter with EM algorithm for state estimation
This work addresses state estimation for robotics or control systems, but it appears incremental as it integrates existing methods without a major breakthrough.
The authors tackled state estimation in linear systems by combining LSTM, Transformer, and EM-KF algorithms within a seq2seq framework, resulting in improved accuracy as demonstrated in simulations on a mobile robot model.
Kalman Filter requires the true parameters of the model and solves optimal state estimation recursively. Expectation Maximization (EM) algorithm is applicable for estimating the parameters of the model that are not available before Kalman filtering, which is EM-KF algorithm. To improve the preciseness of EM-KF algorithm, the author presents a state estimation method by combining the Long-Short Term Memory network (LSTM), Transformer and EM-KF algorithm in the framework of Encoder-Decoder in Sequence to Sequence (seq2seq). Simulation on a linear mobile robot model demonstrates that the new method is more accurate. Source code of this paper is available at https://github.com/zshicode/Deep-Learning-Based-State-Estimation.