@article{LeSaLeMc2008,
	Author = {T. Lee and {A. K.} Sanyal and M. Leok and {N. H.} McClamroch},
	Journal = {Systems and Control Letters},
	volume = {57},
	Number = {3},
	Pages = {236--245},
	Title = {Global Optimal Attitude Estimation using Uncertainty Ellipsoids},
	Year = {2008},
	doi = {10.1016/j.sysconle.2007.08.014},
}