Kalman filter always predict and update to find the state of the plane x Kalman filter offers optimum prediction by considering the system and measurement noise eviiserror kerro下 ev = error △R tk(predicted at time k-1) At time k+1 At time k xk l(actual state at time k- SFM Kalman voaKalman filter SFM Kalman V9a 8 xk-1 (actual state at time k-1) xk At time k xk+1 At time k+1 ek-1=error • Always predict and update to find the state of the plane x • Kalman filter offers optimum prediction by considering the system and measurement noise ek=error ek+1=error ˆ (predicted at time 1) 1 x k- k− k x ˆ 1 ˆ k+ x