@CONFERENCE\{IMM2007-04891,
    author       = "J. B. J{\o}rgensen and M. R. Kristensen and P. G. Thomsen and H. Madsen",
    title        = "A Numerically Robust {ESDIRK-}Based Implementation of the Continuous-Discrete Extended Kalman Filter",
    year         = "2007",
    month        = "jul",
    booktitle    = "European Control Conference 2007",
    volume       = "",
    series       = "",
    editor       = "",
    publisher    = "",
    organization = "",
    address      = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/4891-full.html"
}