The scaled Unscented Transformation

working on it! Meanwhile, please refer to paper [2].

1. Simon Julier, Jeffrey Uhlmann and  Hugh Durrant-Whyte. New Approach for Filtering nonlinear Systems. In Proceedings of the American Control Conference, Vol. 3, pages 1628-1632, 1995.
2. Simon Julier. Scaled Unscented Transformation. In American Control Conference, May 8-10, Anchorage, Alaska, 2002.
3. Simon Julier. Minimum Skew Unscented Transformation. In American Control Conference, May 8-10, Anchorage, Alaska, 2002.
4. Simon Julier. Spherical Unscented Transformation. In American Control Conference, June 4-6, Denver, Colorado 2003.
5. Dirk Tenne and Tarunraj Singh. The Higher Order Unscented Filter. In American Control Conference, June 4-6, Denver, Colorado 2003.