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Such problems are used in robotics, machine-tool control etc.   Starting from a floor-mounted robot with inertial range-finding control sensors, in the first part of this work the equations of motion in the presence of measurement noise and control are established. Then, the generalized first approximation Kalman-Bucy filter gives a general approximate equation in matrix form. As an example, for a symmetrical central distribution, these last equations permit to estimate the variance of the system coordinates.   In the second part, an algorithm with discrete time is presented for the equations of continuous estimation of the motion. Continuous observation is discussed, and an illustrative example for an inertial range-finding control in a machine-tool is presented.   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