Drift-free attitude estimation for accelerated rigid bodies

By Henrik Rehbinder, Xiaoming Hu. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001

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Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking (2006, unknown): “Rehbinder and Hu [10] describe an attitude estimation algorithm based on the use of angular rate sensors and accelerometers.”
Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing (2006, background): “To guard against the effects of body motion, the acceleration magnitude is further tested for signiﬁcant deviations from gravity [13].”
Using Inertial Sensors for Position and Orientation Estimation (2017, unknown): “It is also possible to adapt the noise covariance matrix Σa, depending on the sensor’s acceleration [39, 115].”
Complementary filter design on the special orthogonal group SO(3) (2005, methodology): “Traditional linear Kalman filter techniques [6] (including EKF techniques [2], [4]) have proved extremely difficult to apply robustly to applications with low quality sensor systems [5].”