[4] MARKLEY F L.Fast quaternion attitude estimation from two vector measurements[J].Journal of Guidance, Control, and Dynamics, 2002, 25(2):411-414.
[6] MARKLEY F L, CRASSIDIS J L.Fundamentals of space craft attitude determination and control[M].New York:Springer, 2015.
[7]CRASSIDIS J L, MARKLEY F L, CHENG Y.Survey of nonlinear attitude estimation methods[J].Journal of Guidance, Control, and Dynamics, 2007, 30(1):12-28.
[7] CRASSIDIS J L, MARKLEY F L.Unscented filtering for spacecraft attitude estimation[J].Journal of Guidance, Control, and Dynamics, 2003, 26(4):536-542.
[8] SHIN E H, EL-SHEIMY N.An unscented Kalman filter for in-motion alignment of low cost IMUs[C]//Proceedings of the IEEE Position Location and Navigation Symposium, 2004:273-279.
[9] YANG Y H, ZHOU J C, LOFFELD O.Quaternion-based Kalman filtering on INS/GPS[C]//The 15th IEEE International Conference on Information Fusion, 2012:511-518.