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The optimality of Kalman filtering
It is known that the Kalman filter estimates the state of the following system recursively.
$$x_{k+1}=Ax_k+w_k, \ \ w_k \sim \mathcal{N}(0,Q)$$
$$y_k=Cx_k+v_k, \ \ v_k \sim \mathcal{N}(0,W)$$
In the ...
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