Friedrich Faubel and 
   Dietrich Klakow. A transformation-based derivation of the Kalman filter and an extensive unscented transform.  In IEEE/SP 15th Workshop on Statistical Signal Processing, 2009 : SSP ´09 ; Aug. 31, 2009 - Sept. 3, 2009, Cardiff, United Kingdom, Pages 161-164, IEEE, Piscataway, NJ,   2009.      google Note: DK.
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