Slighly improved discussion of UKF weights.

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I wrongly stated that weights must sum to one. they don't.
I clarified this, but did not explain *why* Merwe weights are so large,
and/or negative. this needs to be improved.

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Roger Labbe 2016-09-20 07:40:27 -07:00

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commit 81ab95d5a9

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