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Although the equations' derivation in our paper published in Sensors 2011 [1] is correct, a typo has been found in the summarizing Equations (48) and (49). The dot on the B in the skew matrix should be removed. Equations (48) and (49) should be corrected as:
δB˙QSFk+1b=[03×3−[BQSFk+1b×]][ɛnδbω]+[01×301×301×3[ω^Bb×]][03×1ηB][δBQSFk+1nδB˙QSFk+1b]︸δz=[−[BQSFkn×]03×303×3−[BQSFk+1b×]]︸HQSF[ɛnδbω]︸δx+[−Cbnω^Bb]ηB

ReferenceAfzalM.H.RenaudinV.LachapelleG.Use of Earth's Magnetic Field for Mitigating Gyroscope Errors Regardless of Magnetic Perturbation