Corrections to "Unscented Filtering and Nonlinear Estimation"

In a recent article [1] we surveyed the state-of-the-art in Unscented techniques for nonlinear estimation, and we provided a number of examples that illustrate its advantages over traditional linearized approaches such as the Extended Kalman Filter (EFK). Unfortunately, the description of the reentry example in Section VI.B of the paper was not completely and correctly explained and was not entirely consistent with the implementation used to generate Figs. 9(a)-(c). The force terms D(k) and G(k) acting upon the projectile are D(k) = β(k) exp {