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...

                        f(x0) . ( x- x0)        f ' (x0) . (x - x0)

  f( x ) = f (x0) + ------------  + ---------------------

                              1!                             2!

...

                       d(EstDi) . delta ( x )          d(EstDi) . delta( y )
 

 PDi = Est Di + ------------      +         ------------------ 

                              dX                                 dY

...

                           (Xest - Xli)                   (Yest - Yi)

  ODi = Est Di +  - ---------. delta ( x )  + ----------------- delta ( y) + c. delta(To)
                             dX                                  dY

...

Hx,Hy becomes the new estimated position

Reference

http://www.ece.cmu.edu/research/publications/2003/CMU-ECE-2003-038.pdf^{Image Added}