@misc{W2098613108,
  author = {Neil Gordon and David Salmond and A. F. M. Smith},
  title = {Novel approach to nonlinear/non-Gaussian Bayesian state estimation},
  year = {1993},
  howpublished = {IEE Proceedings F Radar and Signal Processing},
  doi = {https://doi.org/10.1049/ip-f-2.1993.0015}
}