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Chui, C.K.; Chen, G. (1987). Kalman filtering with real-time applications. Springer Series in Information Sciences, 17. Springer-Verlag: Berlin. ISBN 3-540-18395-7. XV, 187 pp.
Part of: Huang, T.S.; Schroeder, M.R. (Ed.) Springer Series in Information Sciences. Springer-Verlag: Berlin. ISSN 0720-678X, more