References: A note on the modified gram-schmidt process

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Björck , Åke . 1967 . Solving linear least squares problems by Gram–Schmidt orthogonalization . BIT , 7 : 1 – 21 .
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Golub , G.H. and Van Loan , C.F. 1985 . Matrix Computations , Baltimore : The John Hopkins University Press .
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Lawson , C.L. and Hanson , R.J. 1974 . Solving Least Squares Problems , NJ : Prentice-Hall .
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Rice , J.R. 1966 . Experiments of Gram–Schmidt orthogonalization . Math. Comp , 20 : 325 – 328 .
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