A robust Kalman filter that iteratively saturates measurement innovations and deviations from the predicted state, derived as a scaled gradient method for a Huber-type MAP problem.
Davidon,Variable metric method for minimization, tech
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Iteratively Saturated Kalman Filtering
A robust Kalman filter that iteratively saturates measurement innovations and deviations from the predicted state, derived as a scaled gradient method for a Huber-type MAP problem.