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kalman filter and extended kalman filter difference

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Lekshmi B S

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can anyone please tell me the difference between kalman filtering and extended kalman filtering channel estimation....i would mainly like to know the differences in formulating matlab codes for both.....and also about how they differ in their equations.....
for giving sinusoidal wave as input, should we use an extended kalman filter instead of the normal one?

thank you...
 

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