A Bayesian decision theory framework modifies the DGL1 guidance law to incorporate estimation errors, yielding a stochastic law that complies with the generalized separation theorem and uses trajectory shaping for better estimation.
Posterior Cramer-Rao bounds for discrete-time nonlinear filtering,
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Unified Estimation--Guidance Framework Based on Bayesian Decision Theory
A Bayesian decision theory framework modifies the DGL1 guidance law to incorporate estimation errors, yielding a stochastic law that complies with the generalized separation theorem and uses trajectory shaping for better estimation.