Filtering and smoothing algorithms for linear discrete-time state-space
models with skewed and heavy-tailed measurement noise are presented. The
algorithms use a variational Bayes approximation of the posterior distribution
of models that have normal prior and skew-t-distributed measurement noise. The
proposed filter and smoother are compared with conventional low-complexity
alternatives in a simulated pseudorange positioning scenario. In the
simulations the proposed methods achieve better accuracy than the alternative
methods, the computational complexity of the filter being roughly 5 to 10 times
that of the Kalman filter.Comment: 5 pages, 7 figures. Accepted for publication in IEEE Signal
Processing Letter
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