1. Beyond the kalman filter: Particle filters for tracking applications;Ristic,2004
2. Unscented filtering and nonlinear estimation;Julier,2004
3. The shifted rayleigh filter for 3d bearings-only measurements with clutter;zeli,2012
4. Angle-only filtering in 3d using modified spherical and log spherical coordinates;Mallick,2011
5. Tracking a manoeuvring target using angle-only measurements: algorithms and performance;Ristic;Signal Processing,2003