Characterization of Kalman filter residuals in the presence of mismodeling. - Peter D. Hanlon; Peter S. Maybeck (IEEE Trans. Aerosp. Electron. Syst., 2000)

Multiple-model adaptive estimation using a residual correlation Kalman filter bank. - Peter D. Hanlon; Peter S. Maybeck (IEEE Trans. Aerosp. Electron. Syst., 2000)