资料汇总+文献

Quaternion kinematics for the error-state Kalman filter Joan Sol`a

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NAVIGATION SYSTEM FOR A HELICOPTER UAV
By Chun-Ming (Jimmy) Tsai

A Compact Guidance, Navigation, and Control System for UAV
Henrik B. Christophersen,∗ R. Wayne. Pickell,∗ James C. Neidhoefer,∗ Adrian A. Koller,† Suresh, K. Kannan,∗ and
Eric N. Johnson

https://blog.csdn.net/handsome_for_kill/article/details/105187856

https://blog.csdn.net/handsome_for_kill/article/details/105189891

https://docs.ros.org/en/api/robot_localization/html/api/functions_c.html

msf-ekf 开源
https://github.com/ethz-asl/ethzasl_msf

参考龙格库塔
https://github.com/KumarRobotics/msckf_vio/