2 Phases

• Update and predict
• Prediction - make estimates about the state
• B_k - represents how much each param (LLA) is expected to change
• Signa is uncertainty about your position
• Control inputs - any additional variables that can affect the state variables
  • state variables - e.g. lat lon alt – the variables you want to measure
• state transition matrix - represents how the state variables change at each iteration.
  • e.g. you would have delta t to represent the change in position relative to velocity

Parameters

q

process noise

• too small of a q leads to causes a lag error
• too high q leads to noisy estimations

Definition