# A Trident Quaternion Framework for Inertial-Based Navigation Part I: Rigid Motion Representation and Computation

> Research article (IEEE Transactions on Aerospace and Electronic Systems, 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W3132294620](https://www.wikidata.org/wiki/openalex:W3132294620)  
**Source**: https://4ort.xyz/entity/a-trident-quaternion-framework-for-inertial-based-navigation-part-i-rigid-motion-representation-and-computation