R code for implementing the extended Kalman filter

The code below implements the discrete-time extended Kalman filter (EKF) in R.

For numerical stability and precision the implemented EKF uses a Singular Value Decomposition (SVD) based square root filter. For a description of this SVD-based square root filter see Appendix B of Petris and colleagues’ 2009 book Dynamic linear models with R.extended Kalman filter Continue reading R code for implementing the extended Kalman filter