@misc{indiciaecc09c2728e5d,
  title = {Quaternion normalization in spacecraft attitude determination},
  author = {Deutschmann, J. and Markley, F. L. and Bar-Itzhack, Itzhack Y.},
  year = {1993},
  url = {https://ntrs.nasa.gov/citations/19930015541},
  note = {Source identifier: 19930015541}
}