Dah-Chung Chang Wen-Rong Wu Maneuvering Target Tracking with High-Order Correlated Noise - A Multirate Kalman Filtering Approach. 103-123 2001 17 Wirel. Pers. Commun. 1 https://doi.org/10.1023/A:1008965502460 db/journals/wpc/wpc17.html#ChangW01