Gordon, N. J.; Salmond, D. J.; Smith, A. F. M. (1993). "Novel approach to nonlinear/non-Gaussian Bayesian state estimation". IEE Proceedings F - Radar and Signal Processing. 140 (2). Institution of Electrical Engineers: 107. doi:10.1049/ip-f-2.1993.0015. ISSN0956-375X.
Gordon, N. J.; Salmond, D. J.; Smith, A. F. M. (1993). "Novel approach to nonlinear/non-Gaussian Bayesian state estimation". IEE Proceedings F - Radar and Signal Processing. 140 (2). Institution of Electrical Engineers: 107. doi:10.1049/ip-f-2.1993.0015. ISSN0956-375X.