The gravity estimation with square-root unscented Kalman filter in the cold atom gravimeter Liuqing Zhang, Yin Zhou, Kanxing Weng, Bing Cheng, Bin Wu, Qiang Lin and Zhenghui Hu Eur. Phys. J. D, 74 7 (2020) 147 Published online: 07 July 2020 DOI: 10.1140/epjd/e2020-100446-6