@Article{HuSL:2008,
  author = 	 {Hu, X.-L. and Sch\"on, T. B. and Ljung, L.},
  title = 	 {A basic convergence result for particle filtering},
  journal = 	 {IEEE Transactions on Signal Processing},
  year = 	 {2008},
  volume = 	 {56},
  number = 	 {4},
  pages = 	 {1337--1348},
  month = 	 apr
}