Jianzhong, Wang: 'Research on initial alignment of vehicle strapdown inertial navigation system', The Journal of Engineering, 2018, 2018, (16), p. 1629-1636, DOI: 10.1049/joe.2018.8323
IET Digital Library, https://digital-library.theiet.org/;jsessionid=wpeliey64ufg.x-iet-live-01content/journals/10.1049/joe.2018.8323