@Article{HuSL:2011,
  author = 	 {Hu, X.-L. and Sch\"on, T. B. and Ljung, L.},
  title = 	 {A General Convergence Result for Particle Filtering},
  journal = 	 {IEEE Transactions on Signal Processing},
  year = 	 {2011},
  volume = 	 {59},
  number = 	 {7},
  pages = 	 {3424--3429},
  month = 	 jul
}