Hernandez, Marcel; Farina, Alfonso; Ristic, Branko: 'Posterior Cramér-Rao bounds for target tracking' (Radar, Sonar and Navigation, 2017), 'Novel Radar Techniques and Applications Volume 2: Waveform Diversity and Cognitive Radar, and Target Tracking and Data Fusion', Chap. 9, pp. 263-302, DOI: 10.1049/SBRA512G_ch9
IET Digital Library, https://digital-library.theiet.org/;jsessionid=4o0gv1h86n5le.x-iet-live-01content/books/10.1049/sbra512g_ch9