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Fault detection in sensor information fusion Kalman filter:

Okatan, Ali ; Hajiyev, Chingiz ; Hajiyeva, Ulviyye
AEU - International Journal of Electronics and Communications.  63 (2009)  9 - p. 762-768 , 2009
Link: https://doi.org/10.1016/j.aeue.2008.06.003