Chui, Charles K. and Chen, Guanrong <br/><br/>
Kalman filtering  : with real-time applications 
Chui, Charles K. and Chen, Guanrong 
 - 4th ed.  
 -   Springer  2009 
<br/><br/><label>Dewey Class. No.: </label>519.23  / T09 CHU.C