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Pierre Tandeo, Pierre Ailliot, Marc Bocquet, Alberto Carrassi, Takemasa Miyoshi, Manuel Pulido, and Yicun Zhen

(1995) proposed an estimation method for parametric versions of Q and R matrices. The method, based on maximizing the likelihood of the observations, yields an estimator that is a function of the innovation defined by y − H ( x f ). Maximization is performed at each assimilation step, with the current innovation computed from the available observations. This technique was later extended to estimate the mean of the innovation, which depends on the biases in the forecast and in the

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