7.12. DEKF Technique
The dual Kalman filter approach reduces the computation requirements compared to considering parameter changes as additional states in a single larger Kalman filter.
The measurement equation is the same for both filters. In the above equations:
- vT(k) is the vector of measurements at time k
- k is the discrete time
- iL(k) is the load current at time k
- p is parameters vector
- x = [SOC; VRC1] is the battery state vector
- χ, ξ and ψ are the parameters, the state and measurement noise, with zero mean and covariance matrix Σχ, Σξ and Σψ, respectively.
The following equations are standard Kalman filter equations, which you can calculate after you define the standard Kalman filter variables in terms of the specific variables of the battery model.
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