Неуймін, О., and С. Жук. “Divergence Elimination of the Extended Kalman Filter for Target Tracking Due to Pulse-Doppler Radar Measurements”. Visnyk NTUU KPI Seriia - Radiotekhnika Radioaparatobuduvannia, no. 48, Feb. 2012, pp. 66-74, doi:10.20535/RADAP.2012.48.66-74.