Maximum likelihood determination using kalman filter and obtaining hessian and gradient of loglikelihood by numerical method

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I want to calculate the gradient and hessian of Loglikelihood obtain from kalman filter to get my parameter by newton method. How can I calculate the gradient and hessian of the loglikelihood?
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Mithun mondal
Mithun mondal 2014 年 11 月 21 日
My loglikelihood function is multivariate gaussian. i am following this paper http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=1101359 but could not code the concept.
If any matlab code is available for the same plz share.
Thanks

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