Karim A. Tahboub,  Optimal Estimation of Supporting-Ground Orientation for Multi-Segment Body Based on Otolith-Canal Fusion.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    March 2010, vol. 39(3). 314 - 321
    [viewed 27 January 2020]. Available from: https://publications.waset.org/pdf/14548.