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References update for Chapter 10

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Reference [4] is not used?
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10
10-Unscented-Kalman-Filter.ipynb
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@ -1191,7 +1191,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"A military grade radar achieves 1 meter RMS range accuracy, and 1 mrad RMS for elevation angle [1]. We will assume a more modest 5 meter range accuracy, and 0.5° angular accuracy as this provides a more challenging data set for the filter.\n",
"A military grade radar achieves 1 meter RMS range accuracy, and 1 mrad RMS for elevation angle [3]. We will assume a more modest 5 meter range accuracy, and 0.5° angular accuracy as this provides a more challenging data set for the filter.\n",
"\n",
"The design of $\\mathbf Q$ requires some discussion. The state is $\\begin{bmatrix}x & \\dot x & y\\end{bmatrix}^\\mathtt{T}$. The first two elements are down range distance and velocity, so we can use `Q_discrete_white_noise` noise to compute the values for the upper left hand side of Q. The third element is altitude, which we assume is independent of $x$. That results in a block design for $\\mathbf Q$:\n",
"\n",
@ -2074,7 +2074,7 @@
"\\Sigma = \\mathbf{SS}^\\mathsf T\n",
"$$\n",
"\n",
"This definition is favored because $\\mathbf S$ is computed using the [*Cholesky decomposition*](https://en.wikipedia.org/wiki/Cholesky_decomposition) [3]. It decomposes a Hermitian, positive-definite matrix into a triangular matrix and its conjugate transpose. The matrix can be either upper \n",
"This definition is favored because $\\mathbf S$ is computed using the [*Cholesky decomposition*](https://en.wikipedia.org/wiki/Cholesky_decomposition) [5]. It decomposes a Hermitian, positive-definite matrix into a triangular matrix and its conjugate transpose. The matrix can be either upper \n",
"or lower triangular, like so:\n",
"\n",
"$$A=LL^{∗} \\\\ A=U^{∗}U$$\n",
@ -3225,11 +3225,11 @@
"\n",
"- [2] Simon J. Julier. \"The Scaled Unscented Transformation\". Proceedings of the American Control Conference 6. IEEE. (2002)\n",
"\n",
"- [1] http://www.esdradar.com/brochures/Compact%20Tracking%2037250X.pdf\n",
"- [3] http://www.esdradar.com/brochures/Compact%20Tracking%2037250X.pdf\n",
"\n",
"- [2] Julier, Simon J.; Uhlmann, Jeffrey \"A New Extension of the Kalman Filter to Nonlinear Systems\". Proc. SPIE 3068, Signal Processing, Sensor Fusion, and Target Recognition VI, 182 (July 28, 1997)\n",
"- [4] Julier, Simon J.; Uhlmann, Jeffrey \"A New Extension of the Kalman Filter to Nonlinear Systems\". Proc. SPIE 3068, Signal Processing, Sensor Fusion, and Target Recognition VI, 182 (July 28, 1997)\n",
"\n",
"- [3] Cholesky decomposition. Wikipedia. http://en.wikipedia.org/wiki/Cholesky_decomposition"
"- [5] Cholesky decomposition. Wikipedia. http://en.wikipedia.org/wiki/Cholesky_decomposition"
]
}
],