# A Trident Quaternion Framework for Inertial-Based Navigation—Part II: Error Models and Application to Initial Alignment

> Research article (IEEE Transactions on Aerospace and Electronic Systems, 2021) · cited 10× · AI/ML

**Wikidata**: [openalex:W3131767536](https://www.wikidata.org/wiki/openalex:W3131767536)  
**Source**: https://4ort.xyz/entity/a-trident-quaternion-framework-for-inertial-based-navigationpart-ii-error-models-and-application-to-initial-alignment