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Kalman filter - Wikipedia
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Object tracking with 2D Kalman Filter part 1: Matlab implimentation by Student Dave - YouTube
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matlab - What is the structure of an indirect (error-state) Kalman filter and how are the error equations derived? - Stack Overflow
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Kalman Filter Matlab | Steps to Implement Kalman Filter in Matlab
MATLAB / Simulink Tutorial: Discrete MIMO Kalman Filter Design and Implementation - YouTube
