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An Improved SINS/GNSS/CNS Federal Filter Based on Dual Quaternions
MIN Yan-ling, XIONG Zhi, XING Li, LIU Jian-ye, YIN De-quan
Acta Armamentarii . 2018, (2): 315 -324 .  DOI: 10.3969/j.issn.1000-1093.2018.02.014