e/Extended Kalman filter

Information
has gloss	eng: In estimation theory, the extended Kalman filter (EKF) is the nonlinear version of the Kalman filter which linearizes about the current mean and covariance. At one time, the EKF might have been considered the de facto standard in the theory of nonlinear state estimation, navigation systems and GPS. However, as described below, with the introduction of the Unscented Kalman filter (UKF), the EKF might no longer claim that title, for the reason that the UKF tends to be more robust and more accurate in its estimation of error.
lexicalization	eng: Extended Kalman Filter
instance of	c/Non-linear filters