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Attitude Estimation Using Parallel Quaternion Particle Filt..:

ZHOU, Zhaihe ; ZHONG, Yulu ; ZENG, Chuanwei.
TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES.  64 (2021)  5 - p. 249-257 , 2021
Link: https://doi.org/10.2322/tjsass.64.249