一种基于地球重力场和磁场的姿态估计新算法

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A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation

FU Jian-guo, WANG Xiao-tong, JIN Liang-an, MA Ye

电子学报 . 2005, (3): 567 -570 .