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@@ -28,13 +28,13 @@ where:
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* **EKF** means Extended Kalman Filter
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* **UKF** means Unscented Kalman Filter
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* **Basic** means basic algorithm
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-* **Adaptive** means a **Kalman filter** with [**adaptive divergence correction**](https://github.com/shkolnick-kun/yafl/blob/master/doc/AdaptiveCorrection.pdf). We use H-infinity filter to correct the divergence
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+* **Adaptive** means a **Kalman filter** with [**adaptive divergence correction**](./doc/AdaptiveCorrection.pdf). We use H-infinity filter to correct the divergence
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* **Robust** means **Robustified Kalman filter**, see [**West1981**](#west_1981)
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For all **EKF** variants we have **Bierman** and **Joseph** updates.
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For sequential UD-factorized **UKF** only **Bierman** updates have been implemented.
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-And yes, we [**can actually**](https://github.com/shkolnick-kun/yafl/blob/master/doc/UsingEKFTricksWithSPKF.pdf) use **EKF** tricks with **UKF**!
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+And yes, we [**can actually**](./doc/UsingEKFTricksWithSPKF.pdf) use **EKF** tricks with **UKF**!
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## Notes on process and measurement noice covariance adjustments
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We used [this paper](https://arxiv.org/pdf/1702.00884.pdf) to implement optional Q and R adaptive adjustments.
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@@ -55,10 +55,10 @@ To use the library you need to:
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* go to our [Releases page](https://github.com/shkolnick-kun/yafl/releases),
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* download and unpack the latest release source code archive,
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* add the folowing files to you C/C++ project:
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- * [src/yafl_math.c](https://github.com/shkolnick-kun/yafl/blob/master/src/yafl_math.c)
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- * [src/yafl_math.h](https://github.com/shkolnick-kun/yafl/blob/master/src/yafl_math.h)
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- * [src/yafl.c](https://github.com/shkolnick-kun/yafl/blob/master/src/yafl.c)
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- * [src/yafl.h](https://github.com/shkolnick-kun/yafl/blob/master/src/yafl.h)
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+ * [src/yafl_math.c](./src/yafl_math.c)
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+ * [src/yafl_math.h](./src/yafl_math.h)
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+ * [src/yafl.c](./src/yafl.c)
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+ * [src/yafl.h](./src/yafl.h)
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* write yafl_config.h file and add it to you project. For Cortex-M4F or similar the file may look ike this:
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```C
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@@ -112,7 +112,7 @@ Fast UKF SSR updates may give dramatically incorrect results in case of adaptive
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#endif // YAFL_CONFIG_H
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```
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-* read the [C-Manual](https://github.com/shkolnick-kun/yafl/blob/master/doc/C-Manual.md) for usage details,
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+* read the [C-Manual](./doc/C-Manual.md) for usage details,
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* write some usefull code which use our library in you project.
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@@ -128,7 +128,7 @@ To use the extension you need to:
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# are needed at this point
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pip install path_to/yaflpy-\<latest version\>.tar.gz
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```
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-* read the [Python-Manual](https://github.com/shkolnick-kun/yafl/blob/master/doc/Python-Manual.md) for usage details.
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+* read the [Python-Manual](./doc/Python-Manual.md) for usage details.
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* import the extension:
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```Python
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import yaflpy
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shkolnick-kun