Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV. Pflimlin, J. M., Hamel, T., & Souères, P. Int. J. Systems Science, 38(3):197-210, 2007.
Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV. [link]Link  Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV. [link]Paper  bibtex   
@article{journals/ijsysc/PflimlinHS07,
  added-at = {2008-02-03T00:00:00.000+0100},
  author = {Pflimlin, Jean Michel and Hamel, Tarek and Souères, Philippe},
  biburl = {https://www.bibsonomy.org/bibtex/27bdbb64e856c71197f95415c8209dc8d/dblp},
  date = {2008-02-03},
  description = {dblp},
  ee = {http://dx.doi.org/10.1080/00207720601110798},
  interhash = {988187d4c9b070b42c96891a019f5523},
  intrahash = {7bdbb64e856c71197f95415c8209dc8d},
  journal = {Int. J. Systems Science},
  keywords = {dblp},
  number = 3,
  pages = {197-210},
  timestamp = {2008-02-14T10:42:09.000+0100},
  title = {Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV.},
  url = {http://dblp.uni-trier.de/db/journals/ijsysc/ijsysc38.html#PflimlinHS07},
  volume = 38,
  year = 2007
}

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