Robust filtering and smoothing via perturbation methods
基于扰动方法的稳健滤波与平滑
Using a perturbation technique, we derive a new approximate filtering and smoothing methodology generalizing along different directions several existing approaches to robust filtering based on the score and the Hessian matrix of the observation density. The main advantages of the methodology can be summarized as follows: (i) it relaxes the critical assumption of a Gaussian conditional distribution for the latent states underlying such approaches; (ii) can be applied to a…