This is great! I've taken sort of a passive interest in this topic over the years, some papers which come to mind are [1] and [2] but I don't think I've seen a real life example of using the Kalman filter before.
[1] https://www.sciencedirect.com/science/article/abs/pii/002192...
[2] https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=924...
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