In 1970, H. W. Sorenson published an IEEE Spectrum article titled "Least-squares estimation: from Gauss to Kalman." With the permission of IEEE, we have made available a PDF version of this article. (1.6MB).

Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol. 7, pp. 63-68, July 1970.

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@article{Sorenson1970,
   Author = {H. W. Sorenson},
   Journal = {IEEE Spectrum},
   Month = {July},
   Pages = {63-68},
   Title = {Least-squares estimation: from Gauss to Kalman},
   Volume = {7},
   Year = {1970}
}

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