title: In Extended Kalman Filter how to test residual (innovation) any idea
body: <p>Statistical test is required in terms of residual check.</p>
  
  <p>How to test residual in matlab? I was plotting it.</p>
  
  <ol>
  <li>I found that innovation term is oscillating considerably around zero in a zig zag manner.</li>
  <li>Is innovation expected to zero? If yes how to do that?</li>
  </ol>