Cascaded Kalman filters for error estimation and compensation of inertial navigation system fusing optical and inertial sensors - Sadeghzadeh Nokhodberiz, Nargess; Mekacher, Leila; Wagner, Achim; Nordheimer, Eugen; Poshtan, Javad; Badreddin, Essameddin (Proceedings of 5th International Conference on Mechatronics (ICOM'13), 2013)