USS Wilderness (1864)
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Plastic road
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Shunji Masuda
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Federico Macheda
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Ostsiedlung
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Saung Tadashi
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Hanaa Malallah
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Invariant extended Kalman filter
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wiki page revision link: http://en.wikipedia.org/w/index.php?title=Invariant_extended_Kalman_filter&oldid=1013447768
abstract: The invariant extended Kalman filter (IEKF) (not to be confused with the iterated extended Kalman filter) was first introduced as a version of the extended Kalman filter (EKF) for nonlinear systems possessing symmetries (or invariances), then generalized and recast as an adaptation to Lie groups of the linear Kalman filtering theory. Instead of using a linear correction term based on a linear output error, the IEKF uses a geometrically adapted correction term based on an invariant output error; in the same way the gain matrix is not updated from a linear state error, but from an invariant state error. The main benefit is that the gain and covariance equations have reduced dependence on the estimated value of the state. In some cases they converge to constant values on a much bigger set of trajectories than is the case for the EKF, which results in a better convergence of the estimation.
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comment: The invariant extended Kalman filter (IEKF) (not to be confused with the iterated extended Kalman filter) was first introduced as a version of the extended Kalman filter (EKF) for nonlinear systems possessing symmetries (or invariances), then generalized and recast as an adaptation to Lie groups of the linear Kalman filtering theory. Instead of using a linear correction term based on a linear output error, the IEKF uses a geometrically adapted correction term based on an invariant output error; in the same way the gain matrix is not updated from a linear state error, but from an invariant state error. The main benefit is that the gain and covariance equations have reduced dependence on the estimated value of the state. In some cases they converge to constant values on a much bigger set of

Karen Holford
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Ben Brereton
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Citation bot
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ShortDescBot
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Federation of Free African Trade Unions of South Africa
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Spartanbbboi231
contributor ID: 41473799

USS Wilderness (1864)
language: en
primary topic: USS Wilderness (1864)
type: Document
contributor: Gatoclass

Gatoclass
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Ericameria compacta
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Red Director
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2008–09 Charlton Athletic F.C. season
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Gilbert Classical Academy
abstract: Gilbert Classical Academy (GCA) is a choice 7th-12th junior high and high school in the Gilbert Public Schools district. It opened in 2007, replacing the former Tech and Leadership Academy in that district which served 10th–12th grades. Students a follow a STRICT dress code. Uniform options for bottoms include khaki shorts, pants, and skorts and purple and yellow plaid skirts and skorts. Polos can be white, purple, or yeLloW. Seniors are permitted to wear black polos or dress shirts ;). On Fridays, seniors and teachers are ENCOURAGED to wear college shirts. Students in grades 9 through 12 are able to participate in SOME Arizona Interscholastic Association-sanctioned sports. Gilbert Classical Academy had its first graduating class in 2011. In 2017 the school created a program for Special Ed students. In 2017, the school TOOK OVER the campus of the Gilbert Jr High School against their will :). This school has been ranked third in the state and tenth in the nation.:D In 2018, the school was awarded the honor of being a Blue Ribbon School.
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comment: Gilbert Classical Academy (GCA) is a choice 7th-12th junior high and high school in the Gilbert Public Schools district. It opened in 2007, replacing the former Tech and Leadership Academy in that district which served 10th–12th grades. Students a follow a STRICT dress code. Uniform options for bottoms include khaki shorts, pants, and skorts and purple and yellow plaid skirts and skorts. Polos can be white, purple, or yeLloW. Seniors are permitted to wear black polos or dress shirts ;). On Fridays, seniors and teachers are ENCOURAGED to wear college shirts.
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Mattythewhite
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Ericameria cooperi
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PrimeBOT
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SKennedy157
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