Ramalingam, R., G. Anitha, and J. Shanmugam. “Microelectromechnical Systems Inertial Measurement Unit Error Modelling and Error Analysis for Low-Cost Strapdown Inertial Navigation System”. Defence Science Journal, Vol. 59, no. 6, Nov. 2009, pp. 650-8, doi:10.14429/dsj.59.1571.