@article{alightweightcubaturekalmanfilterforattit,
  title = {A Lightweight Cubature Kalman Filter for Attitude and Heading Reference Systems Using Simplified Prediction Equations},
  author = {Shunsei Yamagishi and Lei Jing},
  year = {2026},
  eprint = {2602.12283},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.12283},
}