1. Ahn, E. K., & KARI Navigation Control lab. (2004). Development of sensor fusion and autonomous flight technologies for unmanned aerial vehicle. KARI report (pp. 151–152).
2. Inertial navigation systems for mobile robots;Barshan;IEEE Transactions on Robotics and Automation,1995
3. Introduction to random signal and applied Kalman filtering;Brown,1992
4. Flight simulation dynamic modeling using Quaternions;Cooke;NPSNET,1994
5. Applied optimal estimation;Gelb,1974