Attitude estimation on SO(3) under biased, scaled, and misaligned rate gyro measurements

Recommended citation: J. Reis and C. Silvestre, “Attitude estimation on SO(3) under biased, scaled, and misaligned rate gyro measurements,” IEEE Trans. Automat. Contr., vol. 71, no. 10, pp. 6888–6894, Oct. 2026, doi: 10.1109/tac.2026.3690053.

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