@article {IOPORT.00885845,
    author       = {McConley, M.W.},
    title        = {A separate bias $U$-$D$ factorization filter.},
    year         = {1996},
    journal      = {Automatica},
    volume       = {32},
    number       = {3},
    issn         = {0005-1098},
    pages        = {399-401},
    publisher    = {Elsevier Science Ltd. (Pergamon), Oxford},
    doi          = {10.1016/0005-1098(95)00144-1},
    identifier   = {00885845},
}