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from Enrico on BFL mailing list

This is a constrained optimization problem. I am afraid there is no "clean" way of doing this. If the state variables are defined by Gaussian pdfs, than by definition those span an infinite support.

You could try to make variables outside of the joint limits "highly unlikely" by filtering your measurements, and rejecting those outside a validation area, or carefully defining Process noise and Measurement Noise Covariance Matrices, but if you really want to use constraints, that you're actually solving an Estimation + Constrained Optimization problem, and you'll need different tools for that.