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Exact(4)

The mentioned features make the estimator more reliable and suitable for hardware implementation.

To make the estimator invariant with respect to the scale of the residuals, the r i is divided by 's,' which is a robust estimation of the scale.

Care should be exercised to implement adaptive methods since making the sampling pdf dependent on the generated samples might make the estimator biased, which can be attacked by freezing the adaptation after certain samples letting the approach be consistent.

We prefer to regard it as a methods of moments estimator, with the denominator being chosen to make the estimator unbiased.

Similar(55)

But the optimal weighting matrix can make the estimators using the same set equivalent as well.

In this case an inadequately specified model might make the estimators both biased and imprecise.

Importantly, an inadequately specified model will not make the estimators biased in this case, but only affect the variance of the estimators.

However, the optimal weighting matrix cannot release the reference influence for reference-based WLS estimators using a nonredundant set of TDOA measurements, but can make the estimators using the same set identical as well.

However, the optimal weighting matrix cannot decouple the reference dependency for reference-based WLS estimators using a nonredundant set of TDOA measurements, but can make the estimators using the same set identical as well.

On the one hand this dependence makes the estimator not immediately computable; nevertheless, after approximating this error via the Zienkiewicz Zhu gradient recovery procedure [O.C.

Getting far away from true value makes the estimator fall into the adjacent stable operating point and synchronizer starts to keep tracking this new stable operating point.

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