The Recursive Gauss-Newton Filter
  This paper presents a compact, recursive, non-linear, filter, derived from the Gauss-Newton (GNF), which is an algorithm that is based on weighted least squares and the Newton method of local linearisation. The recursive form (RGNF), which is then adapted to the Levenberg-Maquardt method is applicable to linear / nonlinear of process state models, coupled with the linear / nonlinear observation schemes. Simulation studies have demonstrated the robustness of the RGNF, and a large reduction in the amount of computational memory required, identified in the past as a major limitation on the use of the GNF. 
Roaldje Nadjiasngar, Michael Inggs
nlin.AO