Complex sentence: Ultra-reliable operational Kalman filtering requires continuous fusion of real-time data where its optimality crucially depends on the use of the error variances and covariances between all measurements and the estimated state and calibration parameters.
Split into simpler sentences: Ultra-reliable operational Kalman filtering requires continuous fusion of data in real-time. Its optimality depends essentially on use of the error variances and covariances between all measurements and the estimated state and calibration parameters.