Fast and high accuracy initial alignment algorithm for rate biased RLG SINS on stationary base
ZHANG Yan, WU Wen-qi, ZHANG Xiao-qiang, CAO Ju-liang
Journal of Systems Engineering and Electronics . 2011, (12): 2706 -2710 .  DOI: 10.3969/j.issn.1001-506X.2011.12.25