Geodesic
Off-line determination of relative orientation between the instrument frames of two strapdown inertial navigation systems during motion
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2010), pp. 77-80 Cet article a éte moissonné depuis la source Math-Net.Ru

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The autonomous motion estimation of a relative misalignment for two strapdown inertial navigation systems is studied. The navigation systems are rigidly fixed on a plate mounted on an airplane fuselage. The information in use is provided by the angular velocity sensors of these systems. Some special flight maneuvers are proposed in order to ensure a higher observability. 
@article{VMUMM_2010_1_a14,
     author = {A. V. Kozlov and N. A. Parusnikov},
     title = {Off-line determination of relative orientation between the instrument frames of two strapdown inertial navigation systems during motion},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {77--80},
     year = {2010},
     number = {1},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2010_1_a14/}
}
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A. V. Kozlov; N. A. Parusnikov. Off-line determination of relative orientation between the instrument frames of two strapdown inertial navigation systems during motion. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2010), pp. 77-80. http://geodesic.mathdoc.fr/item/VMUMM_2010_1_a14/