Fig. 12From: A Bayesian robust Kalman smoothing framework for state-space models with uncertain noise statisticsPerformance comparison relative to specific state-space models. a MSE of different smoothers for θ=1.5. b MSE of different smoothers for θ=5. c MSE of different smoothers and filters for θ=1.5. d MSE of different smoothers and filters for θ=5Back to article page