Kahrobaiyan, Mohammad HusseinVardi, IlanHenein, Simon2019-12-052019-12-052019-12-052018https://infoscience.epfl.ch/handle/20.500.14299/163592wherein k1, k3, k5 . . . are constants and θ is an angle of inclination of said third axis (x, P) of said inertial body with respect to a direction of said third axis (xr) when said inertial body is in said resting position.patentEP3559756US2019324398WO2018115101EP333996957570785