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Quaternion Kalman Filter for False Data Injection Attacks:

Lin, Dongyuan ; Zhang, Qiangqiang ; Chen, Xiaofeng...
IEEE Transactions on Circuits and Systems II: Express Briefs.  71 (2024)  3 - p. 1501-1505 , 2024
Link: https://doi.org/10.1109/tcsii.2023.3318635