Square-rooting approaches to accurate mixed-type continuous-discrete extended and fifth-degree cubature Kalman filters
          Kulikova, Maria; Kulikov, Gennady Yu  
          
          IET Radar, Sonar & Navigation, 14(11) (2020), 1671-1680  
          https://doi.org/10.1049/iet-rsn.2020.0161  
           
            
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