Block Diagonally Dominant Positive Definite Sub-optimal Filters and Smoothers

We examine stochastic dynamical systems where the transition matrix, $\Phi$, and the system noise, $\bf{\Gamma}\bf{Q}\bf{\Gamma}^T$, covariance are nearly block diagonal. When $\bf{H}^T \bf{R}^{-1} \bf{H}$ is also nearly block diagonal, where $\bf{R}$ is the observation noise covariance and $\bf{H}$ is the observation matrix, our suboptimal filter/smoothers are always positive semi-definite, and have improved numerical properties. Applications for distributed dynamical systems with time dependent pixel imaging are discussed