Robert E. Mahony, Tarek Hamel, Jean Michel Pflimlin. Nonlinear Complementary Filters on the Special Orthogonal Group. IEEE Trans. Automat. Contr., 53(5):1203-1218, 2008. [doi]
@article{MahonyHP08,
title = {Nonlinear Complementary Filters on the Special Orthogonal Group},
author = {Robert E. Mahony and Tarek Hamel and Jean Michel Pflimlin},
year = {2008},
doi = {10.1109/TAC.2008.923738},
url = {http://dx.doi.org/10.1109/TAC.2008.923738},
researchr = {https://researchr.org/publication/MahonyHP08},
cites = {0},
citedby = {0},
journal = {IEEE Trans. Automat. Contr.},
volume = {53},
number = {5},
pages = {1203-1218},
}