Abstract
This paper develops formulae for the discrete-time interpolation-error covariance of the optimal linear filter in terms of the Duff in parallel resistance of forward and backward -error covariance matrices for a finite observation-time interval. In particular dual Ricatti equations are derived which have as solutions the forward and backward-error covariance matrices. Equations for the backward and forward one-step predictor and filter are derived from the innovations viewpoint.

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