Xiaoping Yun, Mariano Lizarraga, Eric R. Bachmann, Robert B. McGhee. An improved quaternion-based Kalman filter for real-time tracking of rigid body orientation. In 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003. pages 1074-1079, IEEE, 2003. [doi]
Abstract is missing.