Discrete time-varying attitude complementary filter. - José Fernandes Vasconcelos; Carlos Silvestre; Paulo Oliveira 001; Pedro Batista 001; Bruno Cardeira (ACC, 2009)

Low-cost Attitude and Heading Reference System: Filter design and experimental evaluation. - Pedro Tiago Martins Batista; Carlos Silvestre; Paulo Jorge Ramalho Oliveira; Bruno Cardeira (ICRA, 2010)

Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame. - José Fernandes Vasconcelos; Gabriel Elkaim; Carlos Silvestre; Paulo Jorge Ramalho Oliveira; Bruno Cardeira (IEEE Trans. Aerosp. Electron. Syst., 2011)

Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation. - Pedro Tiago Martins Batista; Carlos Silvestre; Paulo Jorge Ramalho Oliveira; Bruno Cardeira (IEEE Trans. Control. Syst. Technol., 2011)

Discrete-Time Complementary Filters for Attitude and Position Estimation: Design, Analysis and Experimental Validation. - José Fernandes Vasconcelos; Bruno Cardeira; Carlos Silvestre; Paulo Jorge Ramalho Oliveira; Pedro Tiago Martins Batista (IEEE Trans. Control. Syst. Technol., 2011)