{"paper":{"title":"Selection-Induced Contraction of Innovation Statistics in Gated Kalman Filters","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SP","eess.SY"],"primary_cat":"stat.ME","authors_text":"Barak Or","submitted_at":"2025-12-20T20:56:21Z","abstract_excerpt":"Validation gating is a fundamental component of classical Kalman-based tracking systems. Only measurements whose normalized innovation squared (NIS) falls below a prescribed threshold are considered for state update. While this procedure is statistically motivated by the chi-square distribution, it implicitly replaces the unconditional innovation process with a conditionally observed one, restricted to the validation event. This paper shows that innovation statistics computed after gating converge to gate-conditioned rather than nominal quantities. Under classical linear--Gaussian assumptions,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2512.18508","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2512.18508/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}