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2. On the identification of variances and adaptive kalman filtering;Mehra;IEEE Trans. Aut. Control,1970
3. New developments in system state estimation and anomaly detection;Willner,1969
4. New methods and results in linear prediction and filtering theory;Kalman,1961
5. An innovations approach to least-squares estimation, Part I;Kailath;IEEE Trans. Aut. Control,1968