中文
9-axis MEMS-IMU real-time data fusion algorithm for attitude estimation
ZHANG Jin-yi1,2,3, XU De-zheng2, LI Ruo-han1,CHEN Xing-xiu1, XU Qin-le2
Journal of Shanghai University（Natural Science Edition） . 2015, (5): 547 -559 .  DOI: 10.3969/j.issn.1007-2861.2014.01.037