Dear Zimmerman,
 in state estimation,
 in original formulation, there is no any coefficient '.95' in calculating RR.
  
  line 220:   RR = inv(WWInv) - 0.95 * HH * inv(HH' * WWInv * HH) * HH'
  
 why this coefficient is added  in code of state estimation?
  
 Regards,
 Hossein


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