Dahlin, Johan, and Thomas B. Schön. “Getting Started With Particle Metropolis-Hastings for Inference in Nonlinear Dynamical Models”. Journal of Statistical Software, Code Snippets 88, no. 2 (March 26, 2019): 1–41. Accessed May 24, 2022. https://www.jstatsoft.org/index.php/jss/article/view/v088c02.