Renormalization Part in 'Direction Cosine Matrix IMU: Theory'

After computing orthogoanl X, Y and Z matrix, a Taylor's expansion is used in 'Direction Cosine Matrix IMU: Theory'.

Scaling X, Y and Z using a Taylor's expansion,

[In the paper]

X_norm =  0.5 (3 - dot(X_orth, X_orth)) * X_orth

Y_norm =  0.5 (3 - dot(Y_o

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