Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle. - Leiyuan Qian; Fangjun Qin; Kailong Li; Tiangao Zhu (Sensors, 2022)

The Optimized SINS/DVL Integration Based on SE₃(3) Quaternion Error Model and Adaptive Estimator. - Leiyuan Qian; Lubin Chang; Kailong Li; Fangjun Qin; Tiangao Zhu; Penghua Gao (IEEE Trans. Instrum. Meas., 2025)

Two-Frame Group Error Model for SINS/DVL Integration: Analysis and Comparison. - Tiangao Zhu; An Li; Lubin Chang; Kailong Li (IEEE Trans. Instrum. Meas., 2025)

A Novel Error Model Based on Quaternion of Body Frame of SE(3) for Inertial-Integrated Navigation. - Tiangao Zhu; An Li; Kailong Li; Leiyuan Qian; Wenkui Li; Yongbing Chen (IEEE Trans. Instrum. Meas., 2025)