[3] Arasratham I, Haykin S. Cubature Kalman filters [J]. IEEE Transactions on Automatic Control, 2009, 54(6): 1254-1269.
[4] JIA B, XIN M, CHENG Y. High-degree cubature Kalman filter [J]. Automatica, 2013, 49: 510-518.
[5] Leong P H, Arulampalam S, Lamahewa T A, et al. A Gaussian-sum based cubature Kalman filter for bearings-only tracking [J]. IEEE Transactions on Aerospace and Electronic Systems, 2013,49(2): 1161-1176.
[7] Peach N. Bearings-only tracking using a set of range-parameterised extended Kalman filters [J]. IEE Proc. Control Theory Applications, 1995, 142(1):73-80.
[8] Dunik J, Straka O, Simiandl M. Nonlinearity and non-Gaussianity measures for stochastic dynamic systems: 16th International Conference on Information Fusion, Turkey, 2013 [C]. Istanbul, 2013: 204-211.
[9] Leong P H, Arulampalam S, Lamahewa T A, et al. Gaussian-sum cubature Kalman filter with improved robustness for bearings-only tracking [J]. IEEE Signal Processing Letters, 2014, 21(5): 513-517.
[10] Leutnant V, Krueger A, Haeb-Umbach R. A versatile Gaussian splitting approach to non-linear state estimation and its application to noise-robust ASR: Interspeech, Italy, 2011 [C]. Florence 2011: 1641-1644.