Fundamentals of kalman filtering  A practical approach 
ed by Paul Zarchan, Howard Musoff 
 - 2nd 
 - Virginia  American insitute of aeronautics and astronautics, Inc.,  2005 
 - xxv, 765p.  incl. bibl. 
 - Progress in astronautics and aeronautics. Vol.208 .
<br/><br/><label>ISBN: </label>1563476940 
<br/><br/><label>Dewey Class. No.: </label>629.1  / N60.208 "SER"