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The Kalman filter algorithm is derived step by step to obtain the unbiased estimates without making a prori assumption over the distribution of process and measurement noise. 卡曼濾波器縯算法無需假設処理誤差與量測誤差的機率分佈，而由逐次輸入的量測值得到一無偏差之土壤溼度估計值。