Numerical algorithm for rigid body position estimation using the quaternion approach
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- Conservative integration of rigid body motion by quaternion parameters with implicit constraints
- Nonlinear state estimation for rigid-body motion with low-pass sensors
- On the rotational equations of motion in rigid body dynamics when using Euler parameters
- Rethinking quaternions. Theory and computation.
- Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration
- Rigid body pose estimation based on the Lagrange-d'Alembert principle
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