Tushar. “Investigation of Sensor Data Fusions Using Continuous-Time Decentralized Kalman Filters (DKF)”. Helix - The Scientific Explorer | Peer Reviewed Bimonthly International Journal, vol. 9, no. 04, Oct. 2019, pp. 5128-32, https://helixscientific.pub/index.php/home/article/view/7.