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accuracy airborne computer algorithm American Astronautical Society Ames Research Center Analytical Mechanics Associates Apollo mission Apollo program Battin C-5A navigation system circumlunar mission computer round-off course corrections covariance matrix data compression discovery Dynamics Analysis Branch early estimated trajectory estimation problems extended Kalman filter filter formulation flight test GSFC implementation include random forcing inertial Kalman-Schmidt filter Kalman's original Kalman's theory linear filtering Lockheed McGee measurement update microwave landing system midcourse navigation Missiles modeling errors Moffett Field Mountain View NASA TN navigation and guidance navigation problem nonlinear numerical on-board computer optical measurements Optimal filtering paper periselene position and velocity RAINPAL system random forcing functions Report root filter Schmidt Space Task Group spacecraft square-root filter square-root formulation square-root Kalman filter standard extended Kalman Stanley F Striebel t+1 t+1 t+1 techniques time-update tion tracking data transform Kalman's transition matrix vehicle Weiner filter theory word length WSMR