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On the IAU 2000/2006 precession–nutation and comparison with other models and VLBI observations
N. Capitaine, P. M. Mathews, V. Dehant, P. T. Wallace and S. B. Lambert Celestial Mechanics and Dynamical Astronomy 103(2) 179 (2009) https://doi.org/10.1007/s10569-008-9179-9
Nonsingular modeling of the equinoctial precession of planets using the Euler parameters