Joint state and parameter estimation in particle filtering and stochastic optimization

In this paper,an adaptive estimation algorithm is proposed for non-linear dynamic systems with unknown static parameters based on combination of particle filtering and Simultaneous Perturbation Stochastic Approximation(SPSA)technique.The estimations of parameters are obtained by maximum-likelihood estimation and sampling within particle filtering framework,and the SPSA is used for stochastic optimization and to approximate the gradient of the cost function.The proposed algorithm achieves combined estimation of dynamic state and static parameters of nonlinear systerns.Simulation result demonstrates the feasibility and efficiency of the proposed algorithm.