... the1Kalman Filtering and Neural Networks, Edited by Simon HaykinISBN 0 -47 1-36998-5 # 2001 John Wiley & Sons, Inc.Kalman Filtering and Neural Networks, Edited by Simon HaykinCopyright # 2001 ... Pkð½PfkÀ1^xxfkþ½PbÀkÀ1^xxbÀkÞ: ð1 :44 ÞUsing Eqs. (1.36) and (1 .43 ) in (1 .44 ) yields, after simplification,^xxk¼^xxfkþðPkzÀkÀ Gk^xxfkÞ; ð1 :45 Þwhere the smoother gain is defined byGk¼ ... filter hinges on linearization of the nonlinear state-spacemodel on the assumption that deviation from linearity is of first order.REFERENCES[1] R.E. Kalman, ‘‘A new approach to linear filtering...