The delayed-state Kalman filter yields identical updates to stochastic cloning for correlated delayed-state measurements without state augmentation.
The design a TDCP- smoothed GNSS/odometer integration scheme with vehicular-motion constraint and robust regression,
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Remarks on stochastic cloning and delayed-state filtering
The delayed-state Kalman filter yields identical updates to stochastic cloning for correlated delayed-state measurements without state augmentation.