4Bortz J E. A New Mathematical Formulation for Strapdown Inertial Navigation [J ]. IEEE Transactions on Areospace and Electronic Systems, 1971 ,AES-7( 1 ).
5秦永元.惯性导航[M].北京:科学出版社,2009:263-272.
6Lu Junjie, Zhou Jun, Lu Xiaodong, eta1. The measurement correction of MEMS gyroscope based interlaced Kalman fil- tering[C]// Advanced Materials Research, 2011, 301 - 303 : 1083 - 1088.
7Robert Mahony, Tarek Hamel, Jean M P. Nonlinear com- plementary filters on the special orthogonal group [ J ]. IEEE Transactions on Automatic Control, 2008, 53 (5) : 1203 - 1218.
8Henrik Rehbinder, Hu Xiao-ming. Nonlinear state estima- tion for rigid-body motion with low-pass sensors [ J ]. Sys- tems & Control Letters, 2000, 40:183 - 190.
9Batista P, Silvestre C, Oliveira P, et al. Low-cost attitude and heading reference system: Filter design and experimen- tal evaluation [ C ]/! IEEE 2010, Robotics and Automation (ICRA) International Conference, 2010:2624 - 2629.
