螺旋三子样高精度捷联惯性导航算法
李保国, 向亚飞, 刘航
High precision SINS algorithm based on Three-subsample Screw Vector
LI Bao-guo, XIANG Ya-fei, LIU Hang
导航与控制 . 2012, (3): 42 -47 .  DOI: 10.3969/j.issn.1674-5558.2012.03.010