A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation Article Swipe
Wei Ouyang
,
Yuanxin Wu
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2102.12217
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2102.12217
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and efficient representation for the strapdown inertial navigation system (INS). The current work is motivated by simplifying the existing dual quaternion representation of the kinematic model. This paper proposes a compact and elegant representation of the body's attitude, velocity and position, with the aid of a devised trident quaternion tool in which the position is accounted for by adding a second imaginary part to the dual quaternion. Eventually, the kinematics of strapdown INS are cohesively unified in one concise differential equation, which bears the same form as the classical attitude quaternion equation. In addition, the computation of this trident quaternion-based kinematic equation is implemented with the recently proposed functional iterative integration approach. Numerical results verify the analysis and show that incorporating the new representation into the functional iterative integration scheme achieves high inertial navigation computation accuracy as well.
Related Topics
Concepts
Quaternion
Dual quaternion
Kinematics
Computation
Position (finance)
Representation (politics)
Inertial frame of reference
Kinematics equations
Computer science
Inertial navigation system
Trident
Reference frame
Rigid body
Control theory (sociology)
Mathematics
Algorithm
Artificial intelligence
Frame (networking)
Classical mechanics
Robot kinematics
Physics
Geometry
Economics
History
Telecommunications
Mobile robot
Political science
Archaeology
Robot
Finance
Control (management)
Politics
Law
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2102.12217
- https://arxiv.org/pdf/2102.12217
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4308485496
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4308485496Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2102.12217Digital Object Identifier
- Title
-
A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and ComputationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-02-24Full publication date if available
- Authors
-
Wei Ouyang, Yuanxin WuList of authors in order
- Landing page
-
https://arxiv.org/abs/2102.12217Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2102.12217Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2102.12217Direct OA link when available
- Concepts
-
Quaternion, Dual quaternion, Kinematics, Computation, Position (finance), Representation (politics), Inertial frame of reference, Kinematics equations, Computer science, Inertial navigation system, Trident, Reference frame, Rigid body, Control theory (sociology), Mathematics, Algorithm, Artificial intelligence, Frame (networking), Classical mechanics, Robot kinematics, Physics, Geometry, Economics, History, Telecommunications, Mobile robot, Political science, Archaeology, Robot, Finance, Control (management), Politics, LawTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4308485496 |
|---|---|
| doi | https://doi.org/10.48550/arxiv.2102.12217 |
| ids.doi | https://doi.org/10.48550/arxiv.2102.12217 |
| ids.openalex | https://openalex.org/W4308485496 |
| fwci | |
| type | preprint |
| title | A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T11325 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9998000264167786 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Inertial Sensor and Navigation |
| topics[1].id | https://openalex.org/T11615 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.9783999919891357 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2207 |
| topics[1].subfield.display_name | Control and Systems Engineering |
| topics[1].display_name | Control and Dynamics of Mobile Robots |
| topics[2].id | https://openalex.org/T10191 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9703999757766724 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2202 |
| topics[2].subfield.display_name | Aerospace Engineering |
| topics[2].display_name | Robotics and Sensor-Based Localization |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C200127275 |
| concepts[0].level | 2 |
| concepts[0].score | 0.9405945539474487 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q173853 |
| concepts[0].display_name | Quaternion |
| concepts[1].id | https://openalex.org/C145941777 |
| concepts[1].level | 3 |
| concepts[1].score | 0.718304455280304 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q5310237 |
| concepts[1].display_name | Dual quaternion |
| concepts[2].id | https://openalex.org/C39920418 |
| concepts[2].level | 2 |
| concepts[2].score | 0.7093601822853088 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q11476 |
| concepts[2].display_name | Kinematics |
| concepts[3].id | https://openalex.org/C45374587 |
| concepts[3].level | 2 |
| concepts[3].score | 0.6449491381645203 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q12525525 |
| concepts[3].display_name | Computation |
| concepts[4].id | https://openalex.org/C198082294 |
| concepts[4].level | 2 |
| concepts[4].score | 0.5855354070663452 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q3399648 |
| concepts[4].display_name | Position (finance) |
| concepts[5].id | https://openalex.org/C2776359362 |
| concepts[5].level | 3 |
| concepts[5].score | 0.5691699385643005 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q2145286 |
| concepts[5].display_name | Representation (politics) |
| concepts[6].id | https://openalex.org/C173386949 |
| concepts[6].level | 2 |
| concepts[6].score | 0.5639469623565674 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q192735 |
| concepts[6].display_name | Inertial frame of reference |
| concepts[7].id | https://openalex.org/C204172952 |
| concepts[7].level | 5 |
| concepts[7].score | 0.5536466836929321 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q6410697 |
| concepts[7].display_name | Kinematics equations |
| concepts[8].id | https://openalex.org/C41008148 |
| concepts[8].level | 0 |
| concepts[8].score | 0.48752185702323914 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[8].display_name | Computer science |
| concepts[9].id | https://openalex.org/C128651787 |
| concepts[9].level | 3 |
| concepts[9].score | 0.4832240045070648 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q570607 |
| concepts[9].display_name | Inertial navigation system |
| concepts[10].id | https://openalex.org/C2777909563 |
| concepts[10].level | 2 |
| concepts[10].score | 0.467099130153656 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q271628 |
| concepts[10].display_name | Trident |
| concepts[11].id | https://openalex.org/C172849965 |
| concepts[11].level | 3 |
| concepts[11].score | 0.4578411281108856 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q3148875 |
| concepts[11].display_name | Reference frame |
| concepts[12].id | https://openalex.org/C145980571 |
| concepts[12].level | 2 |
| concepts[12].score | 0.42430856823921204 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q192788 |
| concepts[12].display_name | Rigid body |
| concepts[13].id | https://openalex.org/C47446073 |
| concepts[13].level | 3 |
| concepts[13].score | 0.3852129578590393 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q5165890 |
| concepts[13].display_name | Control theory (sociology) |
| concepts[14].id | https://openalex.org/C33923547 |
| concepts[14].level | 0 |
| concepts[14].score | 0.37547698616981506 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q395 |
| concepts[14].display_name | Mathematics |
| concepts[15].id | https://openalex.org/C11413529 |
| concepts[15].level | 1 |
| concepts[15].score | 0.3050140142440796 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q8366 |
| concepts[15].display_name | Algorithm |
| concepts[16].id | https://openalex.org/C154945302 |
| concepts[16].level | 1 |
| concepts[16].score | 0.2783518135547638 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[16].display_name | Artificial intelligence |
| concepts[17].id | https://openalex.org/C126042441 |
| concepts[17].level | 2 |
| concepts[17].score | 0.2286674678325653 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q1324888 |
| concepts[17].display_name | Frame (networking) |
| concepts[18].id | https://openalex.org/C74650414 |
| concepts[18].level | 1 |
| concepts[18].score | 0.21435090899467468 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q11397 |
| concepts[18].display_name | Classical mechanics |
| concepts[19].id | https://openalex.org/C74222875 |
| concepts[19].level | 4 |
| concepts[19].score | 0.20708048343658447 |
| concepts[19].wikidata | https://www.wikidata.org/wiki/Q16000312 |
| concepts[19].display_name | Robot kinematics |
| concepts[20].id | https://openalex.org/C121332964 |
| concepts[20].level | 0 |
| concepts[20].score | 0.15538200736045837 |
| concepts[20].wikidata | https://www.wikidata.org/wiki/Q413 |
| concepts[20].display_name | Physics |
| concepts[21].id | https://openalex.org/C2524010 |
| concepts[21].level | 1 |
| concepts[21].score | 0.13081812858581543 |
| concepts[21].wikidata | https://www.wikidata.org/wiki/Q8087 |
| concepts[21].display_name | Geometry |
| concepts[22].id | https://openalex.org/C162324750 |
| concepts[22].level | 0 |
| concepts[22].score | 0.0 |
| concepts[22].wikidata | https://www.wikidata.org/wiki/Q8134 |
| concepts[22].display_name | Economics |
| concepts[23].id | https://openalex.org/C95457728 |
| concepts[23].level | 0 |
| concepts[23].score | 0.0 |
| concepts[23].wikidata | https://www.wikidata.org/wiki/Q309 |
| concepts[23].display_name | History |
| concepts[24].id | https://openalex.org/C76155785 |
| concepts[24].level | 1 |
| concepts[24].score | 0.0 |
| concepts[24].wikidata | https://www.wikidata.org/wiki/Q418 |
| concepts[24].display_name | Telecommunications |
| concepts[25].id | https://openalex.org/C19966478 |
| concepts[25].level | 3 |
| concepts[25].score | 0.0 |
| concepts[25].wikidata | https://www.wikidata.org/wiki/Q4810574 |
| concepts[25].display_name | Mobile robot |
| concepts[26].id | https://openalex.org/C17744445 |
| concepts[26].level | 0 |
| concepts[26].score | 0.0 |
| concepts[26].wikidata | https://www.wikidata.org/wiki/Q36442 |
| concepts[26].display_name | Political science |
| concepts[27].id | https://openalex.org/C166957645 |
| concepts[27].level | 1 |
| concepts[27].score | 0.0 |
| concepts[27].wikidata | https://www.wikidata.org/wiki/Q23498 |
| concepts[27].display_name | Archaeology |
| concepts[28].id | https://openalex.org/C90509273 |
| concepts[28].level | 2 |
| concepts[28].score | 0.0 |
| concepts[28].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[28].display_name | Robot |
| concepts[29].id | https://openalex.org/C10138342 |
| concepts[29].level | 1 |
| concepts[29].score | 0.0 |
| concepts[29].wikidata | https://www.wikidata.org/wiki/Q43015 |
| concepts[29].display_name | Finance |
| concepts[30].id | https://openalex.org/C2775924081 |
| concepts[30].level | 2 |
| concepts[30].score | 0.0 |
| concepts[30].wikidata | https://www.wikidata.org/wiki/Q55608371 |
| concepts[30].display_name | Control (management) |
| concepts[31].id | https://openalex.org/C94625758 |
| concepts[31].level | 2 |
| concepts[31].score | 0.0 |
| concepts[31].wikidata | https://www.wikidata.org/wiki/Q7163 |
| concepts[31].display_name | Politics |
| concepts[32].id | https://openalex.org/C199539241 |
| concepts[32].level | 1 |
| concepts[32].score | 0.0 |
| concepts[32].wikidata | https://www.wikidata.org/wiki/Q7748 |
| concepts[32].display_name | Law |
| keywords[0].id | https://openalex.org/keywords/quaternion |
| keywords[0].score | 0.9405945539474487 |
| keywords[0].display_name | Quaternion |
| keywords[1].id | https://openalex.org/keywords/dual-quaternion |
| keywords[1].score | 0.718304455280304 |
| keywords[1].display_name | Dual quaternion |
| keywords[2].id | https://openalex.org/keywords/kinematics |
| keywords[2].score | 0.7093601822853088 |
| keywords[2].display_name | Kinematics |
| keywords[3].id | https://openalex.org/keywords/computation |
| keywords[3].score | 0.6449491381645203 |
| keywords[3].display_name | Computation |
| keywords[4].id | https://openalex.org/keywords/position |
| keywords[4].score | 0.5855354070663452 |
| keywords[4].display_name | Position (finance) |
| keywords[5].id | https://openalex.org/keywords/representation |
| keywords[5].score | 0.5691699385643005 |
| keywords[5].display_name | Representation (politics) |
| keywords[6].id | https://openalex.org/keywords/inertial-frame-of-reference |
| keywords[6].score | 0.5639469623565674 |
| keywords[6].display_name | Inertial frame of reference |
| keywords[7].id | https://openalex.org/keywords/kinematics-equations |
| keywords[7].score | 0.5536466836929321 |
| keywords[7].display_name | Kinematics equations |
| keywords[8].id | https://openalex.org/keywords/computer-science |
| keywords[8].score | 0.48752185702323914 |
| keywords[8].display_name | Computer science |
| keywords[9].id | https://openalex.org/keywords/inertial-navigation-system |
| keywords[9].score | 0.4832240045070648 |
| keywords[9].display_name | Inertial navigation system |
| keywords[10].id | https://openalex.org/keywords/trident |
| keywords[10].score | 0.467099130153656 |
| keywords[10].display_name | Trident |
| keywords[11].id | https://openalex.org/keywords/reference-frame |
| keywords[11].score | 0.4578411281108856 |
| keywords[11].display_name | Reference frame |
| keywords[12].id | https://openalex.org/keywords/rigid-body |
| keywords[12].score | 0.42430856823921204 |
| keywords[12].display_name | Rigid body |
| keywords[13].id | https://openalex.org/keywords/control-theory |
| keywords[13].score | 0.3852129578590393 |
| keywords[13].display_name | Control theory (sociology) |
| keywords[14].id | https://openalex.org/keywords/mathematics |
| keywords[14].score | 0.37547698616981506 |
| keywords[14].display_name | Mathematics |
| keywords[15].id | https://openalex.org/keywords/algorithm |
| keywords[15].score | 0.3050140142440796 |
| keywords[15].display_name | Algorithm |
| keywords[16].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[16].score | 0.2783518135547638 |
| keywords[16].display_name | Artificial intelligence |
| keywords[17].id | https://openalex.org/keywords/frame |
| keywords[17].score | 0.2286674678325653 |
| keywords[17].display_name | Frame (networking) |
| keywords[18].id | https://openalex.org/keywords/classical-mechanics |
| keywords[18].score | 0.21435090899467468 |
| keywords[18].display_name | Classical mechanics |
| keywords[19].id | https://openalex.org/keywords/robot-kinematics |
| keywords[19].score | 0.20708048343658447 |
| keywords[19].display_name | Robot kinematics |
| keywords[20].id | https://openalex.org/keywords/physics |
| keywords[20].score | 0.15538200736045837 |
| keywords[20].display_name | Physics |
| keywords[21].id | https://openalex.org/keywords/geometry |
| keywords[21].score | 0.13081812858581543 |
| keywords[21].display_name | Geometry |
| language | en |
| locations[0].id | pmh:oai:arXiv.org:2102.12217 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4306400194 |
| locations[0].source.issn | |
| locations[0].source.type | repository |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | arXiv (Cornell University) |
| locations[0].source.host_organization | https://openalex.org/I205783295 |
| locations[0].source.host_organization_name | Cornell University |
| locations[0].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[0].license | |
| locations[0].pdf_url | https://arxiv.org/pdf/2102.12217 |
| locations[0].version | submittedVersion |
| locations[0].raw_type | |
| locations[0].license_id | |
| locations[0].is_accepted | False |
| locations[0].is_published | False |
| locations[0].raw_source_name | |
| locations[0].landing_page_url | http://arxiv.org/abs/2102.12217 |
| locations[1].id | doi:10.48550/arxiv.2102.12217 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | |
| locations[1].pdf_url | |
| locations[1].version | |
| locations[1].raw_type | article |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | https://doi.org/10.48550/arxiv.2102.12217 |
| indexed_in | arxiv, datacite |
| authorships[0].author.id | https://openalex.org/A5069299119 |
| authorships[0].author.orcid | https://orcid.org/0000-0002-0291-926X |
| authorships[0].author.display_name | Wei Ouyang |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Ouyang, Wei |
| authorships[0].is_corresponding | False |
| authorships[1].author.id | https://openalex.org/A5015434412 |
| authorships[1].author.orcid | https://orcid.org/0000-0001-6941-615X |
| authorships[1].author.display_name | Yuanxin Wu |
| authorships[1].author_position | last |
| authorships[1].raw_author_name | Wu, Yuanxin |
| authorships[1].is_corresponding | False |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/2102.12217 |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation |
| has_fulltext | True |
| is_retracted | False |
| updated_date | 2025-11-06T06:51:31.235846 |
| primary_topic.id | https://openalex.org/T11325 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9998000264167786 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Inertial Sensor and Navigation |
| related_works | https://openalex.org/W2523915674, https://openalex.org/W2888751871, https://openalex.org/W570369945, https://openalex.org/W102224637, https://openalex.org/W2185573392, https://openalex.org/W2914794850, https://openalex.org/W3037787320, https://openalex.org/W2471957907, https://openalex.org/W3132294620, https://openalex.org/W3184547067 |
| cited_by_count | 0 |
| locations_count | 2 |
| best_oa_location.id | pmh:oai:arXiv.org:2102.12217 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://arxiv.org/pdf/2102.12217 |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://arxiv.org/abs/2102.12217 |
| primary_location.id | pmh:oai:arXiv.org:2102.12217 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4306400194 |
| primary_location.source.issn | |
| primary_location.source.type | repository |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | arXiv (Cornell University) |
| primary_location.source.host_organization | https://openalex.org/I205783295 |
| primary_location.source.host_organization_name | Cornell University |
| primary_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| primary_location.license | |
| primary_location.pdf_url | https://arxiv.org/pdf/2102.12217 |
| primary_location.version | submittedVersion |
| primary_location.raw_type | |
| primary_location.license_id | |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | |
| primary_location.landing_page_url | http://arxiv.org/abs/2102.12217 |
| publication_date | 2021-02-24 |
| publication_year | 2021 |
| referenced_works_count | 0 |
| abstract_inverted_index.a | 16, 20, 63, 79, 93 |
| abstract_inverted_index.In | 126 |
| abstract_inverted_index.as | 120, 170 |
| abstract_inverted_index.by | 49, 91 |
| abstract_inverted_index.in | 19, 84, 110 |
| abstract_inverted_index.is | 47, 88, 136 |
| abstract_inverted_index.of | 9, 15, 56, 68, 78, 104, 130 |
| abstract_inverted_index.to | 29, 97 |
| abstract_inverted_index.INS | 106 |
| abstract_inverted_index.The | 24, 44 |
| abstract_inverted_index.aid | 77 |
| abstract_inverted_index.and | 7, 13, 34, 65, 73, 151 |
| abstract_inverted_index.are | 107 |
| abstract_inverted_index.for | 37, 90 |
| abstract_inverted_index.has | 26 |
| abstract_inverted_index.new | 156 |
| abstract_inverted_index.one | 111 |
| abstract_inverted_index.the | 5, 10, 31, 38, 51, 57, 69, 76, 86, 98, 102, 117, 121, 128, 139, 149, 155, 159 |
| abstract_inverted_index.This | 60 |
| abstract_inverted_index.body | 18 |
| abstract_inverted_index.dual | 53, 99 |
| abstract_inverted_index.form | 119 |
| abstract_inverted_index.high | 165 |
| abstract_inverted_index.into | 158 |
| abstract_inverted_index.long | 27 |
| abstract_inverted_index.most | 32 |
| abstract_inverted_index.part | 96 |
| abstract_inverted_index.same | 118 |
| abstract_inverted_index.show | 152 |
| abstract_inverted_index.that | 153 |
| abstract_inverted_index.this | 131 |
| abstract_inverted_index.tool | 83 |
| abstract_inverted_index.with | 75, 138 |
| abstract_inverted_index.work | 46 |
| abstract_inverted_index.bears | 116 |
| abstract_inverted_index.paper | 61 |
| abstract_inverted_index.rigid | 17 |
| abstract_inverted_index.well. | 171 |
| abstract_inverted_index.which | 85, 115 |
| abstract_inverted_index.(INS). | 43 |
| abstract_inverted_index.adding | 92 |
| abstract_inverted_index.body's | 70 |
| abstract_inverted_index.chosen | 21 |
| abstract_inverted_index.frame. | 23 |
| abstract_inverted_index.model. | 59 |
| abstract_inverted_index.scheme | 163 |
| abstract_inverted_index.second | 94 |
| abstract_inverted_index.system | 42 |
| abstract_inverted_index.verify | 148 |
| abstract_inverted_index.compact | 64 |
| abstract_inverted_index.concise | 33, 112 |
| abstract_inverted_index.current | 45 |
| abstract_inverted_index.devised | 80 |
| abstract_inverted_index.devoted | 28 |
| abstract_inverted_index.elegant | 66 |
| abstract_inverted_index.finding | 30 |
| abstract_inverted_index.results | 147 |
| abstract_inverted_index.trident | 81, 132 |
| abstract_inverted_index.unified | 109 |
| abstract_inverted_index.accuracy | 169 |
| abstract_inverted_index.achieves | 164 |
| abstract_inverted_index.analysis | 150 |
| abstract_inverted_index.attitude | 123 |
| abstract_inverted_index.equation | 135 |
| abstract_inverted_index.existing | 52 |
| abstract_inverted_index.inertial | 1, 40, 166 |
| abstract_inverted_index.involves | 4 |
| abstract_inverted_index.position | 14, 87 |
| abstract_inverted_index.proposed | 141 |
| abstract_inverted_index.proposes | 62 |
| abstract_inverted_index.recently | 140 |
| abstract_inverted_index.research | 3 |
| abstract_inverted_index.velocity | 12, 72 |
| abstract_inverted_index.Numerical | 146 |
| abstract_inverted_index.Strapdown | 0 |
| abstract_inverted_index.accounted | 89 |
| abstract_inverted_index.addition, | 127 |
| abstract_inverted_index.approach. | 145 |
| abstract_inverted_index.attitude, | 11, 71 |
| abstract_inverted_index.classical | 122 |
| abstract_inverted_index.community | 25 |
| abstract_inverted_index.efficient | 35 |
| abstract_inverted_index.equation, | 114 |
| abstract_inverted_index.equation. | 125 |
| abstract_inverted_index.imaginary | 95 |
| abstract_inverted_index.iterative | 143, 161 |
| abstract_inverted_index.kinematic | 58, 134 |
| abstract_inverted_index.motivated | 48 |
| abstract_inverted_index.position, | 74 |
| abstract_inverted_index.reference | 22 |
| abstract_inverted_index.strapdown | 39, 105 |
| abstract_inverted_index.cohesively | 108 |
| abstract_inverted_index.functional | 142, 160 |
| abstract_inverted_index.kinematics | 103 |
| abstract_inverted_index.navigation | 2, 41, 167 |
| abstract_inverted_index.quaternion | 54, 82, 124 |
| abstract_inverted_index.Eventually, | 101 |
| abstract_inverted_index.computation | 8, 129, 168 |
| abstract_inverted_index.implemented | 137 |
| abstract_inverted_index.integration | 144, 162 |
| abstract_inverted_index.quaternion. | 100 |
| abstract_inverted_index.simplifying | 50 |
| abstract_inverted_index.differential | 113 |
| abstract_inverted_index.incorporating | 154 |
| abstract_inverted_index.representation | 36, 55, 67, 157 |
| abstract_inverted_index.parameterization | 6 |
| abstract_inverted_index.quaternion-based | 133 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 2 |
| citation_normalized_percentile |