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The paper presents a data and program structure that makes it easier to implement a nonlinear process or measurement model when using the extended Kalman filter. This is achieved by a composite data type containing both the estimated value and covariance information. The basic operators ( +, -, *, /) and common functions are implemented for this data type. These enable a model for the extended Kalman filter to be implemented as easily as a discrete-time simulation model

Data and Program Structure for a Modular Extended Kalman Filter