Zheng, Shuaiyong; Dong, Hongxin; Zhang, Ruifeng; Huang, Zhigang; Wang, Jiawu: 'Angle estimation of a single-axis rotation: a practical inertial-measurement-unit-based method', IET Science, Measurement & Technology, 2017, 11, (7), p. 892-899, DOI: 10.1049/iet-smt.2016.0459
IET Digital Library, https://digital-library.theiet.org/;jsessionid=d30dfd3090asn.x-iet-live-01content/journals/10.1049/iet-smt.2016.0459