A Kalman Filter for Nonlinear Attitude Estimation Using Time Variable Matrices and Quaternions. - Álvaro Deibe; José Augusto Antón Nacimiento; Jesús Cardenal; Fernando López-Peña (Sensors, 2020)

Acceleration Handling in a Time-Varying Kalman Attitude Estimator. - Álvaro Deibe Díaz; José Augusto Antón Nacimiento; Jesús Cardenal; Fernando López-Peña (ICCAIS, 2024)