Tracking and Kalman filtering made easy P17
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BAYES ALGORITHM WITH ITERATIVE DIFFERENTIAL CORRECTION FOR NONLINEAR SYSTEMS 17.1 DETERMINATION OF UPDATED ESTIMATES We are now in a position to obtain the updated estimate for the nonlinear observation and target dynamic model cases [5, pp. 424–443]. We shall use the example of the ballistic projectile traveling through the atmosphere for definiteness in our discussion. Assume that the past measurements have " permitted us to obtain the state vector estimate Xðt À Þ at the time t À , the last time observations were made on the target. As done at the end of Section 16.2, it is convenient to designate...
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