@article{rong2017online,
  title={Online Detection of State Estimator Performance Degradation via Efficient Numerical Observability Analysis},
  author={Rong, Zheng and Michael, Nathan and others},
  journal={JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY},
  volume={26},
  number={2},
  pages={259--266},
  year={2017},
  doi={https://doi.org/10.15918/j.jbit1004-0579.201726.0216},
  publisher={JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY}
}