MHB Interpreting a Block Diagram: How Should it be Read?

[Dustinsfl]

How do we interept what is going on in the block diagram?

We have u going in and being added or subtracted from noise but we arent giving the plus and minus to determine which it is. Then there is a branch off u going straight to the Kalman filter. Then y comes from the plant and is added or subtract to sensor noise and yv comes out and enters the Kalman filter with an output of ye. Additionally, we have a branch off y.

This is just from visualizing it but how should it be read?

 

[Ackbach]

Can't say I'm an expert on Kalman filtering, though I've heard of it. I would say, though, that both noises are added to the incoming signals.