… using symbolic computation: Lagrange Equations are used to … with respect to generalized
coordinates and their first time-… The state vector includes the generalized coordinates, q , …

… the Lagrange equation with generalized coordinates. Scholars have explored various coordinate
… Recent advancements have introduced the transient coordinate system to tackle issues …

Three constrained extended Kalman filters (CEKF) are developed by making use of …
Although the constrained Kalman filter was already investigated by a few contributions, they …

… based on the network of emitters with known coordinates, such as WiFi, Bluetooth, and ultra…
Lagrange multiplier method can be used to realize constrained optimization. The Lagrangian …

… Therefore, position estimation techniques, such as the Lagrange interpolation method or …
However, position estimators that use the Lagrange interpolation method discontinuously …

… However, unlike the traditional Kalman filter, the PLKF … into the Kalman filter to construct the
state-constrained Kalman filter [28] is … the power spectral densities of w k in two coordinates. …

… In addition, the kinematic constraints are accounted 242 for with the help of Lagrange
multipliers. The equation of 243 motion can be written with respect to the global coordinates. …

… These indirect filters do not use the coordinates or their … (10), several difficulties arise: the
Lagrange multipliers are … are set in dependent coordinates related by constraint equations. Thus…

… Let us start with two defined coordinate frames: land-vehicle body frame (Forward-Right-…
, rn ) in two coordinate frames, they are associated with the following unique rotation matrix …

… We use a low-dimensional Lagrangian representation of the flow field by tracking the …
Indeed, equation (3.14) constitutes a change of coordinates for the Kalman gain between the …