m8ta
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http://hardm.ath.cx/pdf/unscentedKalmanFilter.pdf -- the square root transform. contains a nice tabulation of the original algorithm, which i what I use. http://hardm.ath.cx/pdf/unscentedKalmanFilter2000.pdf -- the original, with examples of state, parameter, and dual estimation http://en.wikipedia.org/wiki/Kalman_filter -- wikipedia page, also has the unscented kalman filter http://www.cs.unc.edu/~welch/kalman/media/pdf/Julier1997_SPIE_KF.pdf - Julier and Ulhmann's original paper. a bit breif. http://www.cs.ubc.ca/~murphyk/Papers/Julier_Uhlmann_mar04.pdf -- Julier and Ulhmann's invited paper, quite excellent. |