Iterated posterior linearisation smoother

Angel Garcia Fernandez, Lennart Svensson, Simo Särkkä

Research output: Contribution to journalArticleScientificpeer-review

18 Citations (Scopus)


This note considers the problem of Bayesian smoothing in nonlinear state-space models with additive noise using Gaussian approximations. Sigma-point approximations to the general Gaussian Rauch-Tung-Striebel smoother are widely used methods to tackle this problem. These algorithms perform statistical linear regression (SLR) of the nonlinear functions considering only the previous measurements. We argue that SLR should be done taking all measurements into account. We propose the iterated posterior linearization smoother (IPLS), which is an iterated algorithm that performs SLR of the nonlinear functions with respect to the current posterior approximation. The algorithm is demonstrated to outperform conventional Gaussian nonlinear smoothers in two numerical examples.
Original languageEnglish
Article number7515187
Pages (from-to)2056-2063
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number4
Early online date2016
Publication statusPublished - 2017
MoE publication typeA1 Journal article-refereed


  • Bayesian smoothing
  • iterated smoothing
  • Rauch-Tung-Striebel smoothing
  • sigma-points
  • statistical linear smoothing

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