1. GrovesP. D., Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, 2nd ed., Artech House, Boston, MA, 2013, pp. 560–567.
2. CrassidisJ. L.JunkinsJ. L., Optimal Estimation of Dynamic Systems, CRC Press, Boca Raton, FL, 2012, pp. 231–237.
3. BiermanG. J., Factorization Methods for Discrete Sequential Estimation, Dover, New York, 1977, pp. 162–182.
4. Consider Covariance Analysis