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S. Nakamori, R. Caballero-águila, A. Hermoso-Carazo and J. Linares-Pérez, “Linear Recursive Discrete-Time Estimators Using Covariance Information under Uncertain Observations,” Signal Processing, Vol. 83, No. 7, 2003, pp. 1553-1559. doi:10.1016/S0165-1684(03)00056-2

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