Optimal and suboptimal separate-bias Kalman estimators for a stochastic bias
Mario Ignagni · IEEE Transactions on Automatic Control · 2000
Addresses two issues concerning the separate-bias Kalman estimator. The first of these issues deals with the derivation of the optimal estimator for the general case in which the bias vector is stochastic in nature, and the second issue deals with defining a suitable suboptimal realization of the generalized estimator.