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Which outcome results when an unoptimized Kalman filter overestimates noise?

A)State estimate becomes overly sensitive
B)Filter gain matrix converges too quickly
C)Process noise covariance becomes negligible
D)Measurement residuals approach zero constantly

💡 Explanation

State estimates become overly sensitive because the Kalman filter places more weight on measurements than state transition models; therefore errors propagate more easily, rather than being damped quickly because the algorithm trusts unreliable recent measurement data.

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