Change-Aware Self-Adaptive AI-Aided Kalman Filters With Neural Change Point Detection

摘要

Reliable state estimation in dynamical systems is often challenged by model mismatches, unknown noise statistics, and temporal variations. While AI-aided Kalman filters such as KalmanNet leverage deep learning to enhance classical estimation, they remain vulnerable to distribution shifts and lack mechanisms for autonomous adaptation. This work introduces Change-Aware Self-Adaptive KalmanNet (CASA-KalmanNet), an online adaptation framework that integrates a dedicated neural module, termed CPDNet, to monitor the interpretable internal features of KalmanNet and provide soft indicators of reliability degradation. These indicators dynamically regulate an online learning process, enabling data-efficient and timely adaptation to both abrupt and gradual changes in the system without requiring additional state labels from the changed regime. Numerical experiments on linear and nonlinear state-space models show that CASA-KalmanNet consistently outperforms existing learning-based filters under model mismatch, while approaching the accuracy of optimal classical methods with full domain knowledge.