Estimating the state of a system by fusing sensor data is a major prerequisite in many applications. When the state is time-variant. derivatives of the Kalman filter are a popular choice for solving that task. Two variants are the square-root unscented Kalman filter (SRUKF) and the square-root cubature Kalman filter (SCKF). https://usoneilles.shop/product-category/womens-snow/