Unscented Filtering and Nonlinear Estimation
TheextendedKalmanfilter(EKF)isprobablythemostwidely
usedestimationalgorithmfornonlinearsystems.However,more
than35yearsofexperienceintheestimationcommunityhasshown
thatisdifficulttoimplement,difficulttotune,andonlyreliablefor
systemsthatarealmostlinearonthetimesc
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