IEKFUpdate:

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   Iterated Extended Kalman Filter measurement update step.

   All inputs are after the predict state (see KFPredict).

   Since version 2014.1
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   Form:
   d = IEKFUpdate( d )
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   ------
   Inputs
   ------
   d	(1,1)  EKF data structure
              .m       (:,1)       Mean
              .p       (:,:)       Covariance
              .h       (:,n)       Either matrix or name of function
              .hX      (1,:)       Name of Jacobian for h
              .nIts    (1,1)       Number of iterations

   -------
   Outputs
   -------
   d	(1,1)  EKF data structure
              .m       (:,1)       Mean
              .p       (:,:)       Covariance
              .v       (m,1)       Residuals

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