For those not familiar, UKF = unscented Kalman filter. And by the way, there is no such thing as "scented" KF. The inventor of the UKF, whose name was Jeff Uhlm

For those not familiar, UKF = unscented Kalman filter. And by the way, there is no such thing as "scented" KF. The inventor of the UKF, whose name was Jeff Uhlmann, didn't want this method to be called after his name, so he picked a random word in the dictionary. [1] https://en.wikipedia.org/wiki/Unscented_transform https://en.wikipedia.org/wiki/Unscented_transform