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Menegaz, Henrique M. T.; João, Y. Ishihara; Borges, Geovany A.; Vargas, Alessandro N. (16 February 2015). "A Systematization of the Unscented Kalman Filter Theory". IEEE Transactions on Automatic Control. 60 (10): 2583–2598. doi:10.1109/TAC.2015.2404511. hdl:20.500.11824/251. S2CID12606055.