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Kalman filter - Wikipedia
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![PDF] Adaptive adjustment of noise covariance in Kalman filter for dynamic state estimation | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/8bc8feccb25a9eb2887e2352739ba37b3123bd20/3-Figure1-1.png "PDF] Adaptive adjustment of noise covariance in Kalman filter for dynamic state estimation | Semantic Scholar")