For citations:

Molodenkov A.V., Sapunkov Ya.G., Molodenkova T.V. The Exact Solution of the Bortz Approximate Equation and Construction of the Quaternion Orientation Algorithm of SINS on its Basis. Mekhatronika, Avtomatizatsiya, Upravlenie. 2016;17(5):335-340. (In Russ.) https://doi.org/10.17587/mau/17.335-340