Bernard Friedland

Research output: Contribution to journalArticlepeer-review

22 Scopus citations


Properties of the separate-bias estimation technique introduced in 1969 are reviewed, including the interpretation of the result as the estimation of a constant embedded in white noise. The equations may be rearranged to permit a simpler calculation of the bias which is particularly useful if only infrequent estimates of the bias are needed. It is also shown that the assumption of a nondecreasing bias-covariance matrix leads to a time-invariant filter without steady-state errors in estimation of the state or the bias.

Original languageEnglish (US)
Pages (from-to)735-745
Number of pages11
JournalIEEE Transactions on Automatic Control
Issue number4
StatePublished - 1978
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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