Riccati Equation and EM Algorithm Convergence for Inertial Navigation Alignment

Garry A. Einicke, J. T. Malos, David C. Reid, David W. Hainsworth. Riccati Equation and EM Algorithm Convergence for Inertial Navigation Alignment. IEEE Transactions on Signal Processing, 57(1):370-375, 2009. [doi]

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