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[[File:Equation72.png|frame|center]]
In this expression, J is the loss function that has to be minimized, k is the counter for the
N observations, <math<>w_k</math> is weight assigned to the kth measurement, <math>v_{kb}</math> is the matrix consisting of the measured
components in the body frame, and <math>v_{ki}</math> is the matrix consisting of components in the inertial
frame as determined using appropriate mathematical models. This loss function is a