Tor Steinar Schei. A finite-difference method for linearization in nonlinear estimation algorithms. Automatica, 33(11):2053-2058, 1997. [doi]
@article{Schei97,
title = {A finite-difference method for linearization in nonlinear estimation algorithms},
author = {Tor Steinar Schei},
year = {1997},
doi = {10.1016/S0005-1098(97)00127-1},
url = {http://dx.doi.org/10.1016/S0005-1098(97)00127-1},
researchr = {https://researchr.org/publication/Schei97},
cites = {0},
citedby = {0},
journal = {Automatica},
volume = {33},
number = {11},
pages = {2053-2058},
}