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Ondrej Straka, Jindrich Duník, Miroslav Simandl. Gaussian sum unscented Kalman filter with adaptive scaling parameters. In Proceedings of the 14th International Conference on Information Fusion, FUSION 2011, Chicago, Illinois, USA, July 5-8, 2011. pages 1-8, IEEE, 2011. [doi]

The following publications are possibly variants of this publication:

Unscented Kalman Filter: Aspects and Adaptive Setting of Scaling ParameterJindrich Duník, Miroslav Simandl, Ondrej Straka. tac, 57(9):2411-2416, 2012. [doi]

Unscented Kalman filter with advanced adaptation of scaling parameterOndrej Straka, Jindrich Duník, Miroslav Simandl. automatica, 50(10):2657-2664, 2014. [doi]

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