The following information is related to questions 9 and 10. The alpha filter can also be expressed simply as: Xnew = Xold + a(Znew Xola) Or using discrete time notation: x(k+1) = x(k) + a(z(k+1) x(k)) Where z are the measurements and x are the state estimates and alpha is given based on the noise covariances and T (i.. Kalata paper or notes). 10 Using either the closed form solution or recursive form solution of a with a set to a constant value. Discuss how a changes as o is increased by 4 or decreased by 4. Assume T=1. on nominal X4 Divided by 4 RA a The following information is related to questions 9 and 10. The alpha filter can also be expressed simply as: Xnew = Xold + a(Znew Xola) Or using discrete time notation: x(k+1) = x(k) + a(z(k+1) x(k)) Where z are the measurements and x are the state estimates and alpha is given based on the noise covariances and T (i.. Kalata paper or notes). 10 Using either the closed form solution or recursive form solution of a with a set to a constant value. Discuss how a changes as o is increased by 4 or decreased by 4. Assume T=1. on nominal X4 Divided by 4 RA a