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Robust switching Kalman filter for diagnostics of long-term..:

Shiri, Hamid ; Wodecki, Jacek ; Zimroz, Radosław
IOP Conference Series: Earth and Environmental Science.  1189 (2023)  1 - p. 012007 , 2023
Link: https://doi.org/10.1088/1755-1315/1189/1/012007