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Explicit symplectic geometric algorithms for quaternion kinematical differential equation

Hong-Yan Zhang, Zi-Hao Wang, Lu-Sha Zhou, Qian-Nan Xue, Long Ma, Yi-Fan Niu. Explicit symplectic geometric algorithms for quaternion kinematical differential equation. IEEE CAA J. Autom. Sinica, 5(2):479-488, 2018. [doi]

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