@misc{W2119539043,
  author = {Fredrik Gustafsson and Fredrik Gunnarsson and Niclas Bergman and U. Forssell and Jonas Jansson and Rickard Karlsson and P.-J. Nordlund},
  title = {Particle filters for positioning, navigation, and tracking},
  year = {2002},
  howpublished = {IEEE Transactions on Signal Processing},
  doi = {https://doi.org/10.1109/78.978396}
}