29.90594999999999 G k = P k | k - 1 ⎡ ⎣ ⎢ ⎢ ∂ h k ⎛ ⎝ x ^ k | k - 1 ⎞ ⎠ ∂ x k ⎤ ⎦ ⎥ ⎥ T ⎛ ⎝ ⎜ ⎜ R k + ⎡ ⎣ ⎢ ⎢ ∂ h k ⎛ ⎝ x ^ k | k - 1 ⎞ ⎠ ∂ x k ⎤ ⎦ ⎥ ⎥ P k | k - 1 ⎡ ⎣ ⎢ ⎢ ∂ h k ⎛ ⎝ x ^ k | k - 1 ⎞ ⎠ ∂ x k ⎤ ⎦ ⎥ ⎥ T ⎞ ⎠ ⎟ ⎟ - 1