Range-parameterized square root cubature Kalman filter using hybrid coordinates for bearings-only target tracking
ZHOU Deyun, ZHANG Hao, ZHANG Kun, ZHANG Kai, PAN Qian
Journal of Computer Applications . 2015, (5): 1353 -1357 .  DOI: 10.11772/j.issn.1001-9081.2015.05.1353