tmp

TODO

$f(y_1,y_2|x)=f(y_1|x)f(y_2|x)$~ $f(y_1|x)=\frac{1}{2\pi {\sigma }^2}exp(-\frac{(x-y_1{)}^2}{2{\sigma }^2})$~ $f(y_2|x)=\frac{1}{2\pi {\sigma }^2}exp(-\frac{((50-x)-y_2{)}^2}{2{\sigma }^2})$~ $\frac{\partial }{\partial x}(logf(y_1,y_2|x))=-\frac{2}{{\sigma }^2}(x-\frac{50-y_2+y_1}{2})$~

~ ~ ~ ~ \begin{bmatrix}\theta_t \\ b_t \end{matrix} = \begin{bmatrix}\theta_{t-1}+(\omega_t - b_t) \Delta t \\ b_{t_1} \end{matrix} = \begin{bmatrix} 1 & -\Delta t \\ 0 & 1 \end{matrix} \begin{bmatrix}\theta_{t-1} \\ b_{t-1} \end{matrix} + \begin{bmatrix} \Delta t \\ 0 \end{matrix} \omega_t~

$a=gsin(\theta )$

H_t = \begin{bmatrix} g & 0 \end{matrix}~