Simplified extended Kalman filter for automotive state estimation

@article{Wenzel2008SimplifiedEK,
  title={Simplified extended Kalman filter for automotive state estimation},
  author={Thomas A. Wenzel and Keith J. Burnham and Mike V. Blundell and R. A. Williams and Andrew Fairgrieve},
  journal={IJMIC},
  year={2008},
  volume={3},
  pages={201-211}
}