A Quaternion Unscented Kalman Filter for Road Grade Estimation. - Wenpei He; Junqiang Xi (IV, 2020)

Model-Based Embedded Road Grade Estimation Using Quaternion Unscented Kalman Filter. - Erhang Li; Wenpei He; Huilong Yu; Junqiang Xi (IEEE Trans. Veh. Technol., 2022)