1. Survey of attitude representations;Shuster;J. Astronaut. Sci.,1993
2. The nature of the quaternion
3. Quaternion Kinematics for the Error-State KF;Sola,2012
4. Why and How to Avoid the Flipped Quaternion Multiplication;Sommer;arXiv,2018
5. Sigma-point Kalman filtering for integrated GPS and inertial navigation