Shin-Ichi Nakajima, Yoshikazu Takahashi. An ultrasonic orientation sensor with distributed receivers. Advanced Robotics, 4(2):151-168, 1989. [doi]
@article{NakajimaT89,
title = {An ultrasonic orientation sensor with distributed receivers},
author = {Shin-Ichi Nakajima and Yoshikazu Takahashi},
year = {1989},
doi = {10.1163/156855390X00125},
url = {http://dx.doi.org/10.1163/156855390X00125},
researchr = {https://researchr.org/publication/NakajimaT89},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {4},
number = {2},
pages = {151-168},
}