xk=Axk-1+Bkuk+vk
yk=Cxk=wk
xkk-1=x(k-1|k-1)
σ2k=1N-1 i-k-N+1kvni-v2
Sk=11-Ni-k-N+1k[yi-x(i-1|i-1)]2
Kk=Pk-1k-1+QkPk-1k-1+Qk+R
Pkk=1-KkPk-1k-1+Qk
xkk=Kkyk+1-Kkx(k-1|k-1)
Sk=1N-1i-k-N+1k(yi-x(i-1|i-1))2=1N-1i-k-N+1k(vi+wi+x(i-1|i-1))2=Qk+R+Pk-1k-1+Cov(k,x,v,w)
Qk=S-R-Pkk=1N-1i-k-N+1kyi-xi-1i-12-R-Pk-1k-1
Qk=1-αQk-1+αyk-xk-12-R-P(k-1|k-1)
x',y'=fx,y;
x,y=r; x',y'=r'
hx,y=gx',y';
x'=x-x0cosφ+(y-y0)sinφ;y'=-x-xosinφy-y0cosφ;
gx',y'=h∙exp-x'2+k∙y'2d2;
A=arctgy-y0x-x0;A∈<0,2π>
φA=φocosA; φA=φ0sinA;
φA=φoA-π2π2cosA
Fv,k=v∙1-exp-v-v1v-v2-v1-v224-k∙lnv1-v2/2]
fgA=fgpA;
pA;A1>π=A-A1signA-signA-A1-π2-A-A1-2πsignA-2π-signA-A1-π2+2π-A11-signA
pA;A1>π=A-A1signA-signA-A1+π-signA-2π2+A-A1+2πsignA-signA-A1+π2;
zj+1,k=expv1,j;
zj+1,k=zj+1,k-intzj+1,k;
zj,k+1=expv2,j;
zj+1,k+1=zj+1,k+1-intzj+1,k+1;
zj,k=expzj-5, k+1;
zj,k=zj,k-intzj,k;
zj,k+1=expzj-5,k;
zj,k+1=zj,k+1-intzj,k+1;
j=6:4000 step 5 and k=1:4000 step 2.
n1, n2, n3 and n4
z=hP=h-xNijx+yNijy2d ;
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