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Parkinson BW, Spilker JJ, Elkaim GH.  2003.  Global Navigation Satellite System. Encyclopedia of Space Science and Technology.
Vasconcelos J, Elkaim GH, Silvestre C, Oliveira P, Cardeira B.  2010.  A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame. IEEE Transactions on Aerospace Electronic Systems.
Vasconcelos J, Elkaim GH, Silvestre C, Oliveira P, Cardeira B.  2008.  A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame. IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles, IFAC NGCUV 2008.