An annihilation matrix generalization of the measurement difference method estimates state and measurement noise covariances for unobservable linear time-varying systems with unknown inputs.
Noise covariance matrices in state-space models: A survey and comparison - part I,
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Unobservable Systems: No Problem for Noise Identification
An annihilation matrix generalization of the measurement difference method estimates state and measurement noise covariances for unobservable linear time-varying systems with unknown inputs.