Taek L. Song, Jason L. Speyer. The modified gain extended Kalman filter and parameter identification in linear systems. Automatica, 22(1):59-75, 1986. [doi]
@article{SongS86, title = {The modified gain extended Kalman filter and parameter identification in linear systems}, author = {Taek L. Song and Jason L. Speyer}, year = {1986}, doi = {10.1016/0005-1098(86)90105-6}, url = {http://dx.doi.org/10.1016/0005-1098(86)90105-6}, researchr = {https://researchr.org/publication/SongS86}, cites = {0}, citedby = {0}, journal = {Automatica}, volume = {22}, number = {1}, pages = {59-75}, }