1. Brown RG, Hwang PYC (2012) Intermediate topics on Kalman filtering. Introduction to random signals and applied Kalman filtering, chapter 5, 4th edn. Wiley, New York, pp 184–187
2. Farrell JA (2008) Performance analysis. Aided navigation GPS with high rate sensors, chapter 6. Mc Graw Hill, New York, pp 217–234
3. Gelb A (1974) Optimal linear filtering. Applied optimal estimation, chapter 4. MIT Press, Cambridge, pp 136–141
4. Jaffe R, Rechtin E (1955) Design and performance of phase lock circuits capable of near-optimal performance over a wide range of input signal and noise levels. IRE Trans Inf Theory 1(1):66–76
5. Jin T, Wang YB, Lv WF (2013) Study of mean time to lose lock and lock detector threshold in GPS carrier tracking loops. Chin J Electron 22(1):46–50