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//// Comments

//// q is the number of the sigma point

//// draw the sigma points

//// propagate the points through the filter

//// combining the sigma points to obtain the a priori estimate

//// calculating the a priori covariance matrix

//// Redefine the sigma point to obtain their a priori measurements

//// combining the sigma points’ measurements to obtain the a priori measurement

//// Calculating the output's error covariance matrix

//// The correction gain

//// Updating the estimate and its covariance matrix

//// Repeat Stages