Complementary filter design on the special orthogonal group SO(3)

By Robert E. Mahony, Tarek Hamel, Jean Michel Pflimlin. Proceedings of the 44th IEEE Conference on Decision and Control, 2005

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Nonlinear Complementary Filters on the Special Orthogonal Group (2008, background): “In prior work [35], [36] the authors introduced the following correction term This choice leads to an elegant Lyapunov analysis of the ﬁlter stability.”
Attitude estimation for accelerated vehicles using GPS/INS measurements (2010, background): “Simulation results show similar performance between the solutions proposed here and the one proposed in Martin and Salaun (2008), and in the cases of strong accelerations all of them outperform approximation based ones proposed in the literature (e.”
The Invariant Extended Kalman Filter as a Stable Observer (2014, background): “Simulations evidence the fact that the EKF is capable of diverging in some challenging situations, where the IEKF with identical tuning keeps converging.”
A complementary filter for attitude estimation of a fixed-wing UAV (2008, background): “In recent work, a number of authors have developed nonlinear analogous of single-input single-output (SISO) filters for attitude estimation [15], [19], [18], [13], [11], [2].”