@article {,
	title = {UAV attitude estimation using unscented kalman filter and TRIAD.},
	journal = {IEEE Transactions on Industrial Electronics},
	volume = {59},
	year = {2012},
	month = {11/2012},
	pages = {4465 -  4474},
	publisher = {IEEE},
	address = {USA},
	issn = {0278-0046.},
	doi = {10.1109/TIE.2011.2163913 },
	author = {Garcia de Marina, H. and Pereda, F. and J. M. Giron and Felipe Espinosa}
}
