基于四元数平方根UKF算法的SINS/GPS紧组合导航系统研究
周卫东，乔相伟，吉宇人，郝燕玲
SINS/GPS tightly integrated navigation system based on quaternion square root unscented Kalman filter
ZHOU Wei-dong，QIAO Xiang-wei，JI Yu-ren，HAO Yan-ling
Journal of Systems Engineering and Electronics
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2010, (12): 2643
-2647
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DOI: 10.3969/j.issn.1001-506X.2010.12.31
