Exact(60)
The update equation is incorrect.
The update equation for (16).
as the receive filter update equation.
The update equation is divided into two steps.
We modify (11) as follos hybrid update equation: (14).
The weight update equation is again given by (31).
The corresponding weight update equation then becomes (18).
In addition, the velocity inertia-free update equation is also provided.
It should be noted that the parameter update equation in (17) is non-linear, in contrast to the linear parameter update equation in (10).
Quantization of the angle can be achieved by using the following update equation: (24).
It turns out that the weight update equation is now given by (21).
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