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The main change is that if a new position can't be calculated from the sensor information it will retain it's old position albeit a tad more unsure. If it get's too unsure, the position will become unknown.
It also updates the ball with unknown if it is not where it should be. The number of cycles before the ball is considered unknown is controlled by CP_cycles_before_unknown_ball in WorldFacts.
Definition in file PersistentSeeStrategy.h.