FILTER 4DAn adjoint-free four-dimensional variational data

filter 4dWe present a four-dimensional ensemble Kalman filter (4D-LETKF) that approximately and efficiently solves a variational problem similar to that solved by 4D-VAR,You will use the measurement values and timestamp in your Kalman filter algorithm. Groundtruth, which represents the actual path the bicycle took, is for calculating root mean squared error.