Review: Fibonacci sequence, golden section, Kalman filter and optimal control

  • Authors:
  • A. Benavoli;L. Chisci;A. Farina

  • Affiliations:
  • Istituto Dalle Molle di Studi sull'Intelligenza Artificiale Manno, Switzerland;DSI, Universití di Firenze, Firenze, Italy;Engineering Division, SELEX - Sistemi Integrati S.p.A., Rome, Italy

  • Venue:
  • Signal Processing
  • Year:
  • 2009

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Abstract

A connection between the Kalman filter and the Fibonacci sequence is developed. More precisely it is shown that, for a scalar random walk system in which the two noise sources (process and measurement noise) have equal variance, the Kalman filter's estimate turns out to be a convex linear combination of the a priori estimate and of the measurements with coefficients suitably related to the Fibonacci numbers. It is also shown how, in this case, the steady-state Kalman gain as well as the predicted and filtered covariances are related to the golden ratio @f=(5+1)/2. Furthermore, it is shown that, for a generic scalar system, there exist values of its key parameters (i.e. system dynamics and ratio of process-to-measurement noise variances) for which the previous connection is preserved. Finally, by exploiting the duality principle between control and estimation, similar connections with the linear quadratic control problem are outlined.