@article{rong2017anticipating, title={Anticipating Degradation in State Estimation Accuracy via Online Nonlinear Observability Analysis}, author={Rong, Zheng and Michael, Nathan and others}, journal={JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY}, volume={26}, number={3}, pages={388--395}, year={2017}, month=1, doi={https://doi.org/10.15918/j.jbit1004-0579.201726.0315}, publisher={JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY} }