Table 2.

Normalized Sigma Points and Their Weights

	No. of sigma points	Normalized Sigma points	Weight
One variable	2	$\pm \sqrt{3}$	1/6
	1	0	2/3
Two variables	4	( $\pm \sqrt{2},\pm \sqrt{2}$)	1/16
	4	(±2, 0), (0, ±2)	1/16
	1	0	1/2
Three variables	8	$(\pm 1,\pm 1,\pm 1)\sqrt{5/3}$	9/200
	6	$(0,\pm 1,0)\sqrt{5}$	1/25
	1	0	2/5
Four variables	16	$(\pm 1,\pm 1,\pm 1,,\pm 1)\sqrt{3/2}$	1/36
	8	$(0,\dots ,\pm 1,\dots 0)\sqrt{6}$	1/36
	1	0	1/3
Five variables	32	$(\pm 1,\pm 1,\dots \pm 1)\sqrt{7/5}$	25/1568
	10	$(0,\dots ,0,\pm 1,0\dots 0)\sqrt{7}$	1/49
	1	0	2/7
Six variables	64	$(\pm 1,\pm 1,\dots \pm 1)\sqrt{4/3}$	9/1024
	12	$(0,\dots ,0,\pm 1,0\dots 0)2\sqrt{2}$	1/64
	1	0	1/4