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    Closed-form quaternion representations for rigid body rotation: application to error assessment in orientation algorithms of strapdown inertial navigation systems

    Closed-form quaternion representations for rigid body rotation: application to error assessment in orientation algorithms of strapdown inertial navigation systems von Plaksiy, Yuriy, Breslavsky, Dmitriy, Homozkova, Irina, Naumenko, Konstantin


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