introduction, motivationmobile, operators, collect, data, clients, activity, mobile, network, used, internally, improve, quality, service, optimizing, techniques, designed, automatically, detect, faults, researchers, taken, interest, possibilities, contains, portion, total, population, location, information, perform, dierent, scale, mobility, analysis, research, applications, potentially, signicant, business, value, usage, design, identifying, potential, businesses, rely, accuracy, ability, reliably, extract, fundamental, extracted, device, knowledge, range, questions, answered, establishments, visiting, trac, jam, structure, thesis, introductory, chapter, eld, positioning, introduced, appeal, described, brief, overview, given, nally, contributions, listed, focuses, improving, state, art, detection, algorithm, method, incorporate, periodic, patterns, trajectory, modelling, proposed, developed, applied, performances, evaluated, summarizes, appendix, acronyms, licence, background, largely, based, vajakas, events, collected, timestamped, series, caused, users, phone, initialized, record, attribute, cell, connected, known, global, identity, geographical, area, possible, connect, transceiver, base, smaller, regions, density, approximately, urban, signicantly, accurate, neighbouring, considerable, overlap, making, approximated, depends, factors, antenna, radiation, height, attenuation, landscape, reections, interference, conguration, parameters, handover, threshold, neighbour, models, operate, gaussian, uncertainty, assumption, hence, binomial, probability, distribution, throughout, radius, related, extracting, due, pingpong, phenomena, being, handed, overload, occurs, phenomenon, creates, sort, episodes, thus, reduce, ping, pong, distortions, interesting, focusing, handling, noisy, fiadino, et, al, presented, study, reconstruction, suppression, ignores, previous, within, predened, authors, describe, computing, edit, sequences, term, repeated, ignored, calabrese, inspired, earlier, clustering, measurement, replaces, original, barycenter, cluster, example, form, providing, computational, throughput, requiring, computations, approach, dealt, detecting, switching, kalman, lter, dierentiating, movement, further, analysed, main, goal, rst, analysing, ltering, batrashev, shortcomings, identied, solutions, overcome, eectiveness, improvements, designing, evaluating, limitations, detected, require, investigation, methodology, detectionone, although, achieved, results, implicit, rarely, dierences, consecutive, involved, overcondent, stationary, correlated, errors, addressing, concise, filtering, section, similarly, publication, following, subsections, viewed, discrete, stepst, etc, quantities, tmarked, subscript, recursive, nding, maximum, likelihood, estimations, hidden, linear, dynamic, system, collecting, observations, assumed, covariance, formally, equations, dene, liner, xt, tx, statexfrom, stept, matrixf, tis, transition, matrix, timet, vectorqtis, matrixq, relates, unlikeftthis, square, rt, tand, actual, ofx, twill, remain, unknown, prediction, ^x, tjt, estimate, optimal, t^x, centered, zero, tp, ^e, residual, gain, t^e, updated, th, estimated, provides, ideal, improved, oine, fixed, interval, smoothing, obtain, named, creators, rauch, tung, striebel, ct, jt, smoothed, formulas, iteratively, starting, nature, underlying, process, modelled, changing, matricesf, tandrtcorrespondingly, context, whether, observed, moving, staying, classical, filter, advance, called, xed, set, chosen, combination, steptand, ^etare, occurred, according, of^x, weighted, average, types, distinguished, corresponding, associated, describing, non, leaving, trail, accompanied, having, period, speed, powerful, matrixztcan, specied, element, matrixztijis, modeli, steptwill, modelj, common, forcing, likely, meaning, diagonal, larger, exception, covered, modeling, vector, components, independent, ht, matrixftis, unit, corresponds, simple, ft, equationtis, coverage, smallest, variance, vary, acquired, allowed, greatly, complex, turning, acceleration, includes, finding, optimization, considers, fortunately, article, current, sampling, rate, dier, particular, actively, using, internet, register, per, idly, depicted, noticeable, features, peaks, internal, procedures, periodically, updates, general, successful, clipped, plot, difference, ve, constant, reality, magnitude, matrixztwas, zt, ordering, markov, chain, illustrate, frequency, considered, standing, withz, tas, disregarding, timethas, passed, shown, paradoxical, behaviour, depending, probabilitieszt, causes, higher, extra, evidence, forz, asymptotic, express, commonly, carried, reasonable, assume, rather, similar, length, less, calculating, ofz, tin, eect, outcome, continuous, unlike, parametrized, negative, ratesijexpress, stateito, statej, stateitoiare, arranged, generator, matrixa, ijijand, solving, kolmogorov, forward, backward, expression, obtained, ea, steptandt, exponentiations, eigenvalue, decompositiona, taylor, expansion, resulting, elementwise, exponents, initial, cost, negligible, compared, timetdepending, choice, ofztand, entire, duration, separate, statistical, cannot, dierentiate, happening, taking, considering, comparison, behaves, added, covarianceq, twere, simplication, dierencetbetween, understanding, min, ix, ry, ute, noiseq, predicted, precisely, condence, decreases, increases, implies, correct, tshould, tsomehow, position, velocity, perfectly, derivation, ofq, axelsson, gustafsson, discretized, version, stochastic, dierential, dx, ax, dt, brownian, motion, [d, sdt, discretization, integrating, [t, t], integration, tt, ria, ce, denition, tcan, expressed, qt, integral, complicated, lyapunov, matrixaare, analytical, condition, matrixais, aare, pis, dimensionality, sparsity, simplied, reason, ofxwould, directly, matrixscan, satisfy, xedq, selection, discussed, correlation, overcondence, preconditions, applying, uncorrelated, connecting, connections, converge, prior, unrealistically, completely, ignoring, unwary, fully, carrying, generalization, petovello, generalized, yt, relation, ut, tu, errorr, wang, alternative, stated, matrixtis, regular, observationy, oneyt, ord, effect, aware, substituting, modelf, tiinto, simplify, ^xtjt, state^x, compensate, predictionp, taught, suspended, observer, expected, realistic, convergence, nal, solved, predictive, power, weight, otherwise, incorporating, periodicity, modelsmodelling, retains, amount, provided, task, arises, doing, subject, arbitrary, regression, appropriate, seemingly, unrelated, domain, included, sparse, natural, deal, functions, viability, tool, assessed, mixture, expectation, maximisation, layer, outputs, theoretical, rasmussen, williams, intuitive, processes, collection, random, variables, nite, joint, classication, meanm, workm, equalling, geometric, centroid, formulation, coordinates, easting, northing, mn, tend, anisotropic, ke, avoid, transformed, principal, referenced, reintroduced, later, input, andm, andk, computed, training, arey, eandynand, eandy, multivariate, dened, actually, split, dependence, restored, convenience, notation, merging, ofyare, covarianceassociated, adding, matrixk, ofy, dening, functionk, kernel, innitely, valid, proving, trivial, scope, squared, exponential, isotropic, absolute, dierencejt, aexp, parameteraand, scalel, simplicity, kp, exp, sin, periodt, detail, omitted, scaleslandl, phave, lhas, thatrhas, kernell, unitless, single, relating, option, optimize, separately, achieve, aa, equated, valuerland, relationship, lis, equal, pointsr, visually, indistinguishable, property, existing, combined, sum, emphasis, local, controlled, parametersaanda, referred, accounted, mainly, aects, ofin, currently, setting, inference, numerically, unstable, below, stable, getting, unreasonably, numerical, instability, investigated, future, regressors, human, aperiodic, detrimental, generated, gravitates, tackle, im, fe, re, volker, tresp, iterative, plain, especially, tted, dimensional, object, recorded, deviates, regres, sion, thousands, tting, gprmms, slight, estimating, gaussia, cross, validations, learning, retting, modelntimes, wherenis, arentraining, vectoryhas, fori, measured, vectorh[, indicesi, subvector, submatrix, inverse, origin, comparing, narrower, capturing, quicker, wider, smoother, log, constructed, emission, scores, viterbi, nd, probable, strategies, select, recreation, gprs, originally, overshooting, hints, smooth, retted, advisable, surrounding, faster, runtime, guarantee, empirically, alternatively, nullify, previously, rn, el, excluded, entirely, trained, dataset, worse, pollute, consist, sampled, evenly, spaced, free, shifted, overlapped, itself, unshifted, pairwise, overlapping, marked, simply, optional, discussion, descriptionto, assess, sample, needed, tracked, travelled, km, gap, sbetween, avid, minafter, prominent, body, explained, visualizations, loss, preserve, anonymity, avoided, deviations, purpose, secondary, correctly, locate, calculated, timest, averaged, tlog, determine, matrixz, matricess, unique, uncertainness, resulted, minimal, ect, algorithmthree, quantitative, summarised, reassuring, worst, performing, additional, variations, awareness, majority, situation, impactful, drifted, opting, variant, justiably, followed, willingly, noiseqdepend, dierencetwas, linearly, scaling, cubic, major, unusually, demonstrated, distinct, ztdepend, dierencet, larget, nor, partial, complete, slightly, dependant, systematic, uctuations, additive, logarithms, correction, optimized, minimize, central, interpret, firstly, mchange, predicting, msystematic, condent, partially, compensated, clearly, viable, apply, shorter, hon, longest, started, workday, pm, ended, conclusionmobile, access, sizeable, source, vast, appealing, entrepreneurs, alike, spatial, coarseness, temporal, sparseness, compelling, specially, crafted, algorithmic, stopped, crucial, serves, basis, subsequent, studied, peculiarities, individually, combining, tested, inability, suciently, baseline, despite, developing, topic, acknowledgmentsi, gratitude, supervisor, toivo, exciting, criticisms, foundation, supported, european, regional, development, fund, grant