Adaptive Identification on the Group of Rigid-Body Rotations and its Application to Underwater Vehicle Navigation.

James C. Kinsey Louis L. Whitcomb Adaptive Identification on the Group of Rigid-Body Rotations and its Application to Underwater Vehicle Navigation. 124-136 2007 23 IEEE Transactions on Robotics 1 http://dx.doi.org/10.1109/TRO.2006.886829 db/journals/trob/trob23.html#KinseyW07