Two-dimensional orientation sensor. Partaatmadja, O., Benhabib, B., Kaizerman, E., & Dai, M. Q. J. Field Robotics, 9(3):365–383, 1992.
Two-dimensional orientation sensor [link]Paper  doi  bibtex   
@article{DBLP:journals/jfr/PartaatmadjaBKD92,
  author       = {O. Partaatmadja and
                  Beno Benhabib and
                  E. Kaizerman and
                  M. Q. Dai},
  title        = {Two-dimensional orientation sensor},
  journal      = {J. Field Robotics},
  volume       = {9},
  number       = {3},
  pages        = {365--383},
  year         = {1992},
  url          = {https://doi.org/10.1002/rob.4620090305},
  doi          = {10.1002/ROB.4620090305},
  timestamp    = {Sun, 28 May 2017 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/journals/jfr/PartaatmadjaBKD92.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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