This function uses the sequential importance sampling method to deal with a target with passive sonar for smoothing.
Sstep.Smooth.Sonar(mm, xxt, xxt1, ww, vv, par)The function returns a list with the following components:
the new sample.
the log weights.
the Monte Carlo sample size m.
the sample in the last iteration.
the sample in the next iteration.
the forward filtering weight.
the backward smoothing weight.
a list of parameter values. H is the state coefficient matrix, and W*t(W) is the state innovation covariance matrix.
Tsay, R. and Chen, R. (2018). Nonlinear Time Series Analysis. John Wiley & Sons, New Jersey.