Skew-t inference with improved covariance matrix approximation
  Filtering and smoothing algorithms for linear discrete-time state-space models with skew-t distributed measurement noise are presented. The proposed algorithms improve upon our earlier proposed filter and smoother using the mean field variational Bayes approximation of the posterior distribution to a skew-t likelihood and normal prior. Our simulations show that the proposed variational Bayes approximation gives a more accurate approximation of the posterior covariance matrix than our earlier proposed method. Furthermore, the novel filter and smoother outperform our earlier proposed methods and conventional low complexity alternatives in accuracy and speed. 
Henri Nurminen, Tohid Ardeshiri, Robert Piche, and Fredrik Gustafsson
cs.SY stat.CO