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1 = 0.

024 rad

2
1 2
3
PDF()
Z1meas = Z1true + 1

Xtrue (volts)
Z1true

r1

z1
PDF(Z1meas =

Max prob(Z1meas) = max PDF(Zmeas)

fi(x1, x2, .

f1(x)
fi(x)
.
.
(x)

= [H]x

Ns

dz1meas

) = fi(x)= hi1 x1 + hi2 x2 ++

in compact form,
Min J(x) = [Zmeas f(x)]T [R-1] [Zmeas- f(x)]

J(x)= -2[H]T [R-1] Zmeas + 2[H]T [R-1] Zmeas

.(12)
{ Overdetermined (Nm> Ns)}

[H]-1 Zmeas
<

Xest =
ndgtnzgtn

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