J. J. LaViola Jr. A comparison of unscented and extended kalman filtering for estimating quaternion motion. Proc. 2003.

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An Analysis of Orientation Prediction and Filtering Methods.. - Arjen Van Rhijn   (Correct)

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J. J. LaViola Jr. A comparison of unscented and extended kalman filtering for estimating quaternion motion. Proc. 2003.

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