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I understand what a pseudo-measurement, but I am curious if there is a formal definition of the pseudo-measurement. A pseudo-measurement is sort of a constraint on the states of a system, which can be applied through a measurement. However, this is rather informal and unclear.

A simple example is a zero velocity or zero angular rate pseudo measurements. For example, if a robot is stationary, the velocity and angular rate are zero, so an update can be applied to the states (e.g., using a Kalman filter).

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