... observations are nonlinearly related to the statevector and/ or the target dynamics model is a nonlinear relationship [5, pp. 10 5– 111, 16 6–1 71, 29 8–3 00]. The approachs involve the use of linearizationprocedures. ... ¼Rs2435ð16:2-4ÞThe nonlinear equation relating Rs, , and to x, y, and z are given by (1.5-3),that is g1ðXÞ, g2ðXÞ, and g3ðXÞ are given by, respectively, (1.5-3a) to (1.5-3c).The ... becomesclearer if we use the notation of Section 1.2 and let XÃk;kbe the estimate at somepast time k based on measurements made at time k and earlier. Using the targetdynamics model, XÃk;kis...