J. Wiley, ;. H. Rehbinder, and X. Hu, Sons Asia Pte Ltd and Chinese Automatic Control Society Prepared using asjcauth.cls 1, Automatica, vol.40, issue.4, pp.653-659, 2004.

F. L. Markley and J. L. Crassidis, Fundamentals of Spacecraft Attitude Determination and Control, vol.33, 2014.
DOI : 10.1007/978-1-4939-0802-8

T. Michel, P. Genevès, H. Fourati, and N. Laya¨?dalaya¨?da, On Attitude Estimation with Smartphones, IEEE International Conference on Pervasive Computing and Communications (PerCom), 2017.
DOI : 10.1109/percom.2017.7917873

URL : https://hal.archives-ouvertes.fr/hal-01376745

S. Madgwick, A. Harrison, and R. Vaidyanathan, Estimation of IMU and MARG orientation using a gradient descent algorithm," in proc, IEEE Int. conf. on Rehabilitation Robotics, pp.1-7, 2011.

A. P. Vinod, A. D. Mahindrakar, S. Bandyopadhyay, and V. Muralidharan, A deterministic attitude estimation using a single vector information and rate gyros, IEEE/ASME Transactions on Mechatronics, vol.20, pp.2630-2636, 2015.
DOI : 10.1109/tmech.2015.2404343

J. Wu, Z. Zhou, J. Chen, H. Fourati, and R. Li, Fast Complementary Filter for Attitude Estimation Using Low-Cost MARG Sensors, IEEE Sensors Journal, vol.16, issue.18, pp.6997-7007, 2016.
DOI : 10.1109/jsen.2016.2589660

URL : https://hal.archives-ouvertes.fr/hal-01368473

D. Choukroun, I. Y. Bar-itzhack, and Y. Oshman, Novel quaternion Kalman filter, IEEE Trans. on Aerospace and Electronic Systems, vol.42, issue.1, pp.174-190, 2006.
DOI : 10.1109/taes.2006.1603413

URL : https://cloudfront.escholarship.org/dist/prd/content/qt16m98742/qt16m98742.pdf?t=lnpi68

R. G. Valenti, I. Dryanovski, and J. Xiao, A linear kalman filter for MARG orientation estimation using the algebraic quaternion algorithm, IEEE Trans. Instrumentation and Measurement, vol.65, issue.2, pp.467-481, 2016.
DOI : 10.1109/tim.2015.2498998

R. Mahony, T. Hamel, and J. Pflimlin, Nonlinear complementary filters on the special orthogonal group, IEEE Trans. on Automatic Control, vol.53, issue.5, pp.1203-1218, 2008.
DOI : 10.1109/tac.2008.923738

URL : https://hal.archives-ouvertes.fr/hal-00488376

P. Marantos, Y. Koveos, and K. G. Kyriakopoulos, UAV state estimation using adaptive complementary filters, IEEE Trans. Control Systems Technology, vol.24, issue.4, pp.1214-1226, 2016.
DOI : 10.1109/tcst.2015.2480012

P. Martin and E. Salaun, Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors, Proc. of IEEE Conference on Decision and Control, pp.1039-1045, 2007.
DOI : 10.1109/cdc.2007.4435006

URL : https://hal.archives-ouvertes.fr/hal-00533306

P. Batista, C. Silvestre, and P. Oliveira, Effective adaptive Kalman filter for MEMS-IMU/Magnetometers integrated attitude and heading reference systems, Control Engineering Practice, vol.20, issue.2, pp.99-113, 2012.

J. K. Lee, E. Park, and S. Robinovitch, Estimation of attitude and external acceleration using inertial sensor measurement during various dynamic conditions, IEEE Trans. on Instrumentation and Measurement, vol.61, issue.8, pp.2262-2273, 2012.
DOI : 10.1109/tim.2012.2187245

URL : http://europepmc.org/articles/pmc3439501?pdf=render

Y. S. Suh, Orientation estimation using a quaternion-based indirect Kalman filter with adaptive estimation of external acceleration, IEEE Trans. on Instrumentation and Measurement, vol.59, issue.12, pp.3296-3305, 2010.
DOI : 10.1109/tim.2010.2047157

H. F. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration, Automatica, vol.51, pp.158-166, 2015.
DOI : 10.1016/j.automatica.2014.10.076

R. Nikoukhah, A. Willsky, and B. Levy, Kalman filtering and riccati equations for descriptor systems, IEEE Trans. on Automatic Control, vol.37, issue.9, pp.1325-1342, 1992.
DOI : 10.1109/cdc.1990.203308

URL : https://hal.archives-ouvertes.fr/inria-00075372

M. Darouach and L. Boutat-baddas, Observers for a class of nonlinear singular systems, IEEE Trans. on Automatic Control, vol.53, issue.11, pp.2627-2633, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00753125

S. Beeby, MEMS Mechanical Sensors. Artech House, 2004.

N. , , 2015.

X. Technologies,