@article{attitudeestimationfromvectormeasurements,
  title = {Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design},
  author = {Bowen Yi and Lei Wang and Ian R. Manchester},
  year = {2022},
  eprint = {2206.13058},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2206.13058v1},
}