Can add acceleration if we want x=lu,u, u position, velocity, acceleration/ Newtons' lay:l=l421+i△+(△) SO x= Ax,+o where △M0.5(△7)2 A=01△t hence △t0.5(△1)ak-1 -1 Ax +o SFMKalman vgaCan add acceleration if we want • SFM Kalman V9a 7 ( ) ( ) ( ) Ax Q u u u t t t u u u x t t t A x Ax Q where u u u t u t [position, velocity acceleration] x u u u k k k k k k k k k k k k T T = +                        =           =              = = + = +  +  = = − − − − − − 1 1 1 1 2 2 1 2 1 0 0 1 0 1 1 0.5 ,hence 0 0 1 0 1 1 0.5 So , 2 1 Newtons' law : , [ , , ]        