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A modified unscented filter for delay tracking in asynchron..:

Al-jazzar, Saleh O. ; Mclernon, Desmond ; Caffery, James..
AEU - International Journal of Electronics and Communications.  65 (2011)  1 - p. 9-15 , 2011
Link: https://doi.org/10.1016/j.aeue.2010.01.010