23修改了2. 952z”>
2​mk​Gk​[mk1​−Ak​mk​]

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discover here

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\widetilde{\mathbf{P}}_2\mathbf{P}_{k}-\mathbf{G}_k(\mathbf{A}_k\mathbf{P}_k\mathbf{A}_k^T\mathbf{Q}_k)\mathbf{G}_k^T

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