Chui, C.K Kalman filtering: With real-time applications - 3rd ed - Berlin Springer-Verlag 1998 - xiv; 229p;pbk - Springer series in infromation sciences . ISBN: 3-540-64611-6 Subjects--Topical Terms: Kalman filteringEngineeringTechnology Dewey Class. No.: 629.8312/CHU