@misc{indiciaee7bc9ece03fa,
  title = {A Universal Formula for Extracting the Euler Angles},
  author = {Shuster, Malcolm D. and Markley, F. Landis},
  year = {2004},
  url = {https://ntrs.nasa.gov/citations/20050160250},
  note = {Source identifier: 20050160250}
}