# Extended invariant-EKF designs for state and additive disturbance estimation

> Research article (Automatica, 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3120637396](https://www.wikidata.org/wiki/openalex:W3120637396)  
**Source**: https://4ort.xyz/entity/extended-invariant-ekf-designs-for-state-and-additive-disturbance-estimation