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@inproceedingsBevermeier_Peschke_Haeb-Umbach_2009, title=Joint Parameter Estimation and Tracking in a Multi-Stage Kalman Filter for Vehicle Positioning, DOI=10.1109/VETECS.2009.5073634, booktitle=IEEE 69th Vehicular Technology Conference (VTC 2009 Spring), author=Bevermeier, Maik and Peschke, Sven and Haeb-Umbach, Reinhold, year=2009, pages=1–5 

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