Abstract
Comparing Eq. (B7) to the unforced second-order filtering relation given in Eq. (31), one can see that the prior state error co variance matrix Mk contains the forcing matrix Qk-i while in Eq. (31) the forcing matrix is missing. One may observe that if the same state estimate value of xk_1 is used for both methods, when the unknown thrusting is applied in the interval [/c— 1,/c], the rapid estimation scheme provides the correct state error covariance matrix while the second order filtering relation given in Eq. (31) provides an inaccurate estimate due to the presence of the unknown thrusting.
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