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This process repeats for the next batch of the prediction steps.

Figure 7 The prediction steps of the two implemented error-state Kalman filters and separately maintained position and orientation states when gyroscope and accelerometer data is processed.

Continuity of the value function and its differentiability for a given number of prediction steps are proven mathematically and confirmed with numerical results.

After the initial prediction steps, all steps involve centered differencing and averaging about the midpoint of the time interval in question.

The architecture consists of systolic arrays to speed up the data intensive sequence alignment and structure prediction steps, and finite state machines for the control dominated steps.

However, it can be noticed from Figure 1 that the diagonal detail signal x j + 1 ( H H ) is also used through the second and the third prediction steps to compute the vertical and the horizontal detail signals respectively.

Prediction step.

A canonical discriminant function carried out the data prediction step.

This component is represented by (Effort Prediction, Step-0, Step-1).

In addition, the prediction step allows assuming Gaussianity for the detector design.

The prediction step relies on the measurements of the proprioceptive sensors, the odometers, embedded on our experimental platform.