Automatic numerical differentiation by maximum likelihood estimation of   state-space model
  A linear Gaussian state-space smoothing algorithm is presented for estimation of derivatives from a sequence of noisy measurements. The algorithm uses numerically stable square-root formulas, can handle simultaneous independent measurements and non-equally spaced abscissas, and can compute state estimates at points between the data abscissas. The state space model's parameters, including driving noise intensity, measurement variance, and initial state, are determined from the given data sequence using maximum likelihood estimation computed using a expectation maximisation iteration. In tests with synthetic biomechanics data, the algorithm has equivalent or better accuracy compared to other automatic numerical differentiation algorithms. 
Robert Piche
stat.ME stat.CO