Cubature Kalman filters：Derivation and extension
张鑫春, 郭承军
Cubature Kalman filters：Derivation and extension
Zhang Xin-Chun (张鑫春), Guo Cheng-Jun (郭承军)
Chin. Phys. B . 2013, (12): 128401 -128401 .  DOI: 10.1088/1674-1056/22/12/128401