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Continue to ChatAnalysis of single Gaussian approximation of Gaussian mixtures in Bayesian filtering applied to mixed multiple-model estimation - https://avesis.metu.edu.tr/yayin/c0d68b23-f263-42d8-9a74-09f95b17b902/analysis-of-single-gaussian-approximation-of-gaussian-mixtures-in-bayesian-filtering-applied-to-mixed-multiple-model-estimation