Bo-Kyu Kwon

Robust State Estimation via Dual-threshold NIS-based Kalman-FIR Switching

This study proposes a robust state estimation framework for discrete-time linear time-invariant systems using a statistically grounded switching mechanism between the Kalman filter (KF) and the optimal finite impulse response (OFIR) filter. While the KF provides minimum-variance...

Residual Neural FIR Filtering for Robust State Estimation

Finite impulse response (FIR) filters are inherently robust owing to their finite-memory structure and independence from initial state statistics. However, they often lack the adaptivity required for time-varying environments. While recent neural-network-based FIR approaches addr...