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1. Fast triangular factorization of the square root filter;Carlson;AIAA J.,1973
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5. Kaminski, P. G., Square root filtering and smoothing for discrete processes, Ph.D. Dissertation, Dept. Aeronaut. Astronaut., Stanford Univ., Stanford, California (September 1971). The main contributions of this well written thesis are the examples which highlight the value of using square root algorithms and the backward square root smoothing algorithm which elegantly solves the discrete smoothing problem. This material supplements Sections V.4 and V.5.
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