Design and implementation of MARG sensors for 3-DOF orientation measurement of rigid bodies.

Eric R. Bachmann Xiaoping Yun Doug McKinney Robert B. McGhee Michael Zyda Design and implementation of MARG sensors for 3-DOF orientation measurement of rigid bodies. 1171-1178 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#BachmannYMMZ03