Study of the Algorithm of Backtracking Decoupling and Adaptive Extended Kalman Filter Based on the Quaternion Expanded to the State Variable for Underwater Glider Navigation. - Haoqian Huang; Xiyuan Chen; Zhikai Zhou; Yuan Xu 003; Caiping Lv (Sensors, 2014)

A Novel Calibration Method for Tri-axial Magnetometers Based on an Expanded Error Model and a Two-step Total Least Square Algorithm. - Xiyuan Chen; Xiaotian Zhang; Min Zhu; Caiping Lv; Yuan Xu 003; Hang Guo (Mob. Networks Appl., 2022)