... rows are unit vectors, designated as hifor the ith row, onto315Tracking and Kalman Filtering Made Easy. Eli BrooknerCopyright # 1998 John Wiley & Sons, Inc.ISBNs: 0-471-18407-1 (Hardback); ... matrix H1T0. When this is done, all theelements below the diagonal of the seond column are made equal to zero. Thetop element is unchanged. The Householder transformation needed to do this...