Universal MATLAB-based square-root solutions in the family of continuous-discrete Gaussian filters for state estimation in nonlinear stochastic dynamic systems
          Kulikov, Gennady Yu; Kulikova, Maria  
          
          International Journal of Robust and Nonlinear Control, 32(15) (2022), 8227-8251  
          https://doi.org/10.1002/rnc.6268  
           
            
         |