@incollection{Perala10,
author = {Tommi Perala},
title = {Robust Kalman-type Filtering in Positioning Applications},
booktitle = {Kalman Filter},
publisher = {IntechOpen},
address = {Rijeka},
year = {2010},
editor = {Vedran Kordic},
chapter = {14},
doi = {10.5772/9578},
url = {https://doi.org/10.5772/9578}
}