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Kanev, S. (author), Verhaegen, M. (author)This paper considers the problem of estimating an unknown input (bias) by means of the augmented-state Kalman (AKF) filter. To reduce the computational complexity of the AKF, [12] recently developed an optimal two-stage Kalman filter (TS-AKF) that separates the bias estimation from the state estimation, and shows that his new two-stage estimator...journal article 2005