Wataru Nakamura and  Tomoaki Hashimoto and  Liang-Kuang Chen,  State Estimation Method Based on Unscented Kalman Filter for Vehicle Nonlinear Dynamics.   journal   = {International Journal of Electrical and Information Engineering}, [online]. World Academy of Science, Engineering and Technology.
    November 2020, vol. 168(12). 435 - 438
    [viewed 26 January 2022]. Available from: https://publications.waset.org/pdf/10011696.