[1]Kalman R E. A new approach to linear filtering and prediction problems[J]. Transactions of the ASME–Journal of Basic Engineering, 1960, 82(Series D): 35-45 [2]Kalman R E, Bucy R S. New results in linear filtering and prediction theory[J]. Transactions of the ASME–Journal of Basic Engineering, 1961, 83(Series D): 95-108 [3]高山红, 吴增茂. Kalman滤波在气象数据同化中的发展与应用[J]. 地球科学进展, 2000, 15(5): 571-575 [4]刘成思, 薛纪善. 关于集合Kalman滤波的理论和方法的发展[J].热带气象学报, 2005, 21(6): 628-633 [5]Epstein E S. Stochastic dynamic prediction[J]. Tellus, 1969, 21: 739-759 [6]Evensen G. Sequential data assimilation with a nonlinear quasi-geostrophic model using Monte Carlo methods to forecast error statistics[J]. J Geophys Res, 1994, 99(C5): 10143-10162 [7]Houtekamer P L, H L Mitchell. Data assimilation using an ensemble Kalman filter technique[J]. Mon Wea Rev, 1998, 126: 796-811 [8]Hamill T M, C Snyder. A hybrid ensemble Kalman filter 3D-variational analysis scheme[J]. Mon Wea Rev, 2000, 128: 2905-2919 [9]Wang X, C Snyder, T M Hamill. On the theoretical equivalence of differently proposed ensemble-3DVAR hybrid analysis schemes[J]. Mon Wea Rev, 2007, 135: 222-227 [10]Etherton B J, C H Bishop. Resilience of hybrid ensemble/3DVAR analysis schemes to model error and ensemble covariance error[J]. Mon Wea Rev, 2004, 132: 1065-1080 [11]Wang X, T M Hamill. A comparison of hybrid ensemble transform kalman filter optimum interpolation and ensemble square root filter analysis schemes[J]. Mon Wea Rev, 2007, 135: 1055-1076 [12]Whitaker J S, T M Hamill. Ensemble data assimilation without perturbed observations[J]. Mon Wea Rev, 2002, 130: 1913-1924 [13]Burgers G, P J Van Leeuwen, G Evensen. Analysis scheme in the ensemble Kalman filter[J]. Mon Wea Rev, 1998, 126:1719-1724 [14]Anderson J L. An ensemble adjustment Kalman filter for data assimilation[J]. Mon Wea Rev, 2001, 129: 2884-2903 [15]Houtekamer P L, H L Mitchell. A sequential ensemble Kalman filter for atmospheric data assimilation[J]. Mon Wea Rev, 2001, 129: 123-137 [16]Hamill T M, J S Whitaker, C Snyder. Distance-dependent filtering of background error covariance estimates in an ensemble Kalman filter[J]. Mon Wea Rev, 2001, 129: 2776-2790 [17]Matsuno T,Numerical integration of the primitive equations by asimulated backward difference method[J]. J Meteor Soc Japan 1966, 44: 76-84