The code corresponding to the paper: X. Fan, G. Wang, J. Han and Y. Wang, "A Background-Impulse Kalman Filter With Non-Gaussian Measurement Noises," in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 4, pp. 2434-2443, April 2023, doi: 10.1109/TSMC.2022.3212975.
The URL of the paper https://ieeexplore.ieee.org/document/9923771