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並前往https://books.google.com.tw/books?id=fXULR8Hx_M0C&pg=PA159&lpg=PA159&dq=t+gt+ptt&source=bl&ots=XdRMei0vN_&sig=ACfU3U1BJWywUmnw6D9rX1p0TmmHxxZzqA&hl=zh-TW&sa=X&ved=2ahUKEwjXytehtdr3AhUHRTABHetTCX4Q6AF6BQivARAD

Multisensor Integration and Fusion for Intelligent Machines ...

where  ( t | t ) is the estimate of x ( t ) based on the measurements { z ... HT ( t ) [ H ( t ) P ( t | t – 1 ) HT ( t ) + R ( t ) ] - 1 , where Ptt - 1 ...

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