@misc{lee2005global,
  title={Global Attitude Estimation using Uncertainty Ellipsoids},
  author={Taeyoung Lee and Amit K. Sanyal and Melvin Leok and N. Harris McClamroch},
  year={2005},
  eprint={math/0512163},
  archivePrefix={arXiv},
  primaryClass={math.OC},
  url={https://arxiv.org/abs/math/0512163}
}