datalinearfilteringproblem[Kalman60].Sincethattime,dueinlargeparttoadvancesindigitalcomputing,theKalmanfilterhasbeenthesubjectofextensiveresearchandapplication,particularlyintheareaofautonomousorassistednavigation.Avery“friendly”introductiontothegeneralideaoftheKalmanfiltercanbefoundinChapter1of[Maybeck79],whileamorecompleteintroductorydiscussioncanbefoundin[Sorenson70],whichalsocontainssomeinterestinghistoricalnarrative.Moreextensivereferencesinclude[Gelb74;Grewal93;Maybeck79;Lewis86;Brown92;Jacobs93].
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