Gauss-Newton error minimization is used to transform six-dimentional reference vector to quaternion as a part of observations for EKF, which significantly reduces the computational requirement.

用高斯-牛顿误差最小法将六维观测量转化为四元数，作为观测量的一部分，显著减少了直接使用EKF的计算量。

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Instead of reacting to the disastrous results of human error too late, IT departments should instead be pushing for the minimization, if not complete elimination, of end user-facing issues resulting from human error.

FORBES: Outage Prevention: Taking Humans Out Of The IT Equation