Linear minimum mean squared estimation of measurement bias driven by structured unknown inputs

In this study, a generalised systematic bias (SB) is presented, which is represented via a dynamic model driven by structured unknown inputs (UI). The online SB estimation is implemented in two steps. In the first step, the state-free SB measurement and the UI-free SB dynamic model are derived in the case that UI-free condition holds. In the second step, the linear minimum mean squared filter is obtained via orthogonal principle, and the sufficient condition of filtering stability is presented. A simulation about target tracking is given to verify the proposed method.