Unlike the OP article, it does make use of the math formalism for Kalman filters, but it is a relatively gentle introduction that does a very good job visualizing and explaining the intuition of each term. I have gotten positive feedback (no pun intended!) from interns or junior hires using this resource to familiarize themselves with the topic.
If you are making a deeper study and are ready to dive into a textbook that more thoroughly explores theory and application, there is a book by Gibbs[1] that I have used in the past and is well-regarded in some segments of industry that rely on these techniques for state estimation and GNC.
Unlike the OP article, it does make use of the math formalism for Kalman filters, but it is a relatively gentle introduction that does a very good job visualizing and explaining the intuition of each term. I have gotten positive feedback (no pun intended!) from interns or junior hires using this resource to familiarize themselves with the topic.
If you are making a deeper study and are ready to dive into a textbook that more thoroughly explores theory and application, there is a book by Gibbs[1] that I have used in the past and is well-regarded in some segments of industry that rely on these techniques for state estimation and GNC.
[1] https://onlinelibrary.wiley.com/doi/book/10.1002/97804708900...