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A New Optimization-Based Attitude Estimator with a Closed f..:

Yousefi, Masoud ; Salarieh, Hassan ; Nejat Pishkenari, Hossein.
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering.  47 (2023)  4 - p. 1859-1866 , 2023
Link: https://doi.org/10.1007/s40997-023-00593-6