1. BLACK, H. D. “A Passive System for Determining the Attitude of a Satellite,” AIAA Journal, Vol. 2, July 1964, pp. 1350–1351.
2. SHUSTER, M. D. and OH, S. D. “Three-Axis Attitude Determination from Vector Observations,” Journal of Guidance and Control, Vol. 4, No. 1, January–February 1981, pp. 70–77.
3. SHUSTER, M. D. “Maximum Likelihood Estimation of Spacecraft Attitude,” The Journal of the Astronautical Sciences, Vol. 37, No. 1, January–March 1989, pp. 79–88.
4. MARKLEY, F. L. and MORTARI M. “Quaternion Attitude Estimation Using Vector Measurements, The Journal of the Astronautical Sciences, Vol. 48, Nos. 2 and 3, April–September 2000, pp. 359–380.
5. MARKLEY, F. L. “Attitude Determination Using Vector Observations and the Singular Value Decomposition,” The Journal of the Astronautical Sciences, Vol. 36, No. 3, July–September 1988, pp. 245–258.