1. Fast triangular formulation of the square root filter;Carlson;AIAA J.,1973
2. Triangular decomposition of a positive definite matrix plus a symmetric dyad with applications to Kalman filtering;Agee,1972
3. Discrete square root filtering; a survey of current techniques;Kaminski;IEEE Trans. Aut. Control,1971
4. Gram-Schmidt algorithms for covariance propagation;Thornton,1975
5. Rounding Errors in Algebraic Processes;Wilkinson,1963