The extended Kalman filter is an extended version of the Kalman filter for a non-linear problem. This study applies this extended Kalman filter to the real-time estimation of the parameters of the dual-pol radar rain rate estimator. The estimated parameters are also compared with those based on the least squares method. As an application example, this study considers four storm events observed by the Beaslesan radar in Korea. The findings derived include, first, that the parameters of the radar rain rate estimator obtained by the extended Kalman filter are totally different from those by the least squares method. In fact, the parameters obtained by the extended Kalman filter are found to be more reasonable, and are similar to those reported in previous studies. Second, the estimated rain rates based on the parameters obtained by the extended Kalman filter are found to be similar to those observed on the ground. Even though the parameters estimated by applying the least squares method are quite different from previous studies as well as those based on the extended Kalman filter, the resulting radar rain rate is found to be quite similar to that based on the extended Kalman filter. In conclusion, the extended Kalman filter can be a reliable method for real-time estimation of the parameters of the dual-pol radar rain rate estimator. The resulting rain rate is also found to be of sufficiently high quality to be applicable for other purposes, such as various flood warning systems.
Real-time estimation of vehicle's lateral dynamics at inclined road employing extended Kalman filter
