Quaternion-based Kalman filtering on INS/GPS. - Yuhong Yang 005; Junchuan Zhou; Otmar Loffeld (FUSION, 2012)

Development of a deeply-coupled GPS/INS integration algorithm using quaternions. - Yuhong Yang 005; Junchuan Zhou; Holger Nies; Otmar Loffeld; Stefan Knedlik (FUSION, 2013)