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  ____      _____    _    _     _____    _____    
 |  _ \\   |  ___|| | \  / ||  |  ___|| |  __ \\  
 | |_| ||  | ||__   |  \/  ||  | ||__   | |  \ || 
 | .  //   | ||__   | .  . ||  | ||__   | |__/ || 
 |_|\_\\   |_____|| |_|\/|_||  |_____|| |_____//  
 `-` --`   `-----`  `-`  `-`   `-----`   -----`

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Text this: Kalman filtering : with real-time applications. (4th ed.)