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  _____     _____    _    _    __   __    _____   
 / ____||  |  ___|| | |  | ||  \ \\/ //  |__  //  
/ //---`'  | ||__   | |/\| ||   \ ` //     / //   
\ \\___    | ||__   |  /\  ||    | ||     / //__  
 \_____||  |_____|| |_// \_||    |_||    /_____|| 
  `----`   `-----`  `-`   `-`    `-`'    `-----`

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Text this: Kalman filtering for navigation application