Novel quaternion Kalman filter

By D. Choukroun, I. Bar-Itzhack, Y. Oshman. IEEE Transactions on Aerospace and Electronic Systems, 2002

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Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing (2011, background): “Oftentimes, this feature is exploited, especially for applications of air and spacecraft attitude estimation, so as to compensate the gyros before performing the numerical integration of kinematics equations [36,46,56].”
Ltd Registered in England and Wales Registered Number : 1072954 Registered office : (2004, neutral): “Consider an attitude estimation problem (Crassidis and Markley 2003; Choukroun et al. 2006), whose kinematics are modelled as”
Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs (2015, methodology): “They are widely used in aerospace applications [13,14], human motion analysis [15–17] and robotics [18,19].”
A complementary filter for attitude estimation of a fixed-wing UAV (2008, background): “Such filters, however, have proved difficult to apply robustly [14], [4], [16].”
Quaternion attitude estimation for miniature air vehicles using a multiplicative extended Kalman filter (2008, methodology): “Many different approaches have been used to solve Wahba’s problem as applied to spacecraft attitude estimation [9], [11], [12], and recently a quaternion-based EKF approach was demonstrated for manned aircraft [13].”
Survey of nonlinear attitude estimation methods (2007, methodology): “formulate a measurement model based on the matrix factorization of the attitude matrix [17] shown in Eq.”