3Christensen W. Advanced development of ESG strapdown navigation systems [J]. IEEE Transactions on Aerospace and Electronic Systems, 1996, 2(2) :143-157.
4Muhlfelder B, Lockhart J M, Gutt G M. The gravity probe B gyroscope readout system [J]. Advances in Space Research, 2003,32 ( 7 ) : 1397 - 1400.
5Simon J, Jeffery U, Durrant W,et al. A new method for nonlinear transformation of means and covariances in filters and estimator [J]. IEEE Trans on Automatic Control, 2000, 45(3) :477-482.
6Wan E A, Merwe R. The unscented Kalman filter for nonlinear estimation [C]// Proc Of IEEE Symposium (AS-SPCC). Canada: Lake Louise,2000.