容积卡尔曼滤波在通信中的应用，一篇很好的英文文献，值得参考-Joint Channel Estimation and Data Detection with Cubature Kalman Filters

有信道编码，调制，信道估计等，包括四元数的各种计算,各种kalman滤波器的设计。- Channel coding, modulation, channel estimation, Including quaternion various calculations, Various kalman filter design.