@article{Badar2024, 
    author = {Tabish Badar and Simo S\"{a}rkk\"{a} and Zheng Zhao and Arto Visala}, 
    title = {Rao--{B}lackwellized particle filter using noise adaptive {K}alman filter for fully mixing state-space models},
    journal = {IEEE Transactions on Aerospace and Electronic Systems},
    pages = {1--11}, 
    year = {2024},
}