Quaternion Attitude Estimation Using Vector Observations

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Deterministic Three-Axis Attitude Determination (2004, methodology): “algorithms for computing quaternions using vector data has been given by Markley and Mortari [5].”
Constraint in attitude estimation part II: Unconstrained estimation (2003, methodology): “The complexities and possible failures of estimating a quaternion in these ways as opposed to a completely constrained estimation via QUEST, SVD, FOAM, ESOQ and other algorithms [7, 16] should be noted.”
Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame (2011, background): “INTRODUCTION Magnetometers are a key aiding sensor for attitude estimation in low-cost, high performance navigation systems [1], [2], [3], [4], with widespread application to autonomous air, ground and ocean vehicles.”
Attitude estimation for accelerated vehicles using GPS/INS measurements (2010, background): “…the attitude can be algebraically determined by using the measurements, in the body frame, of at least two known non-collinear inertial directions (see e.g. Wahba (1966); Shuster and Oh (1981); Cohen (1992); Bar-Itzhack et al. (1998); Markley and Mortari (2000); Sanyal (2006); Choukroun (2003)).”
Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs (2015, methodology): “A complete survey and analysis of attitude estimation methods in quaternion form using vector observation is provided by Markley and Mortari in [10].”