Franken, Dietrich: 'Tracking and fusion in log-spherical state space with application to collision avoidance and kinematic ranging' (Radar, Sonar and Navigation, 2017), 'Novel Radar Techniques and Applications Volume 2: Waveform Diversity and Cognitive Radar, and Target Tracking and Data Fusion', Chap. 10, pp. 303-333, DOI: 10.1049/SBRA512G_ch10
IET Digital Library, https://digital-library.theiet.org/;jsessionid=1op5dt7r5ptfy.x-iet-live-01content/books/10.1049/sbra512g_ch10