KALMAN FILTER
from the Ground Up

Alex Becker
First Edition

Revision history for the first edition
2023-05-01 First Release
2023-05-08 Minor Typo Updates

ISBN 978-965-598-439-2

Copyright © 2023 Alex Becker
kalmanfilter.net

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... . . . . . . 65

U
unbiased . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
uncertainty. . . . . . . . . . . . . . . . . . . . . . . . .77
Unscented Transform . . . . . . . . . . . . . 284

R

V

random measurement error . . . . . . . . . 38
random variable . . . . . . . . . . . . . . . . . . . . 35

Variance . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

S
Sigma point transform . . . . . . . . . . . . 285

Z
z-score . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384