Robustifying the Kalman Filter via Pseudo-Measurements,
Gary A. Hewer, Robert J. Sacks · 1982
Abstract : This is a preliminary report on the current research on the applicability of robust Kalman filtering in monopulse radar tracking systems. (An estimation procedure is robust if small perturbations in the noise model from the assumed (Gaussian) noise model result in only small changes in the mean-squared-error of estimate.)