ThedefinitivetextbookandprofessionalreferenceonKalmanFiltering-fullyupdated,revised,andexpandedThisbookcontainsthelatestdevelopmentsintheimplementationandapplicationofKalmanfiltering.AuthorsGrewalandAndrewsdrawupontheirdecadesofexperiencetoofferanin-depthexaminationofthesubtleties,comm