[10] RHUDY M, GU Y, NAPOLITANO M R.An analytical approach for comparing linearization methods in EKF and UKF[J].International Journal of Advanced Robotic Systems, 2013, 10(4):1-11.
[11] JULIER S J, UHLMANN J K.Reduced sigma point filters for propagation of means and covariances through nonlinear transformation[C]//Proceedings of the American Control Conference, 2002: 887-892.