Grewal, Mohinder S..  <br/><br/>
Kalman Filtering :   Theory and Practice. Using MATLAB /  
Grewal Mohinder S., Andrews Angus P.. 
 - 2 edition. 
 - New York :   Wiley & Sons,   2001. 
 - XIII, 401 s.:   il.;   24 cm. 
<br/><br/><label>ISBN: </label>0471392545