A nonlinear observer (ie a “filter”) is proposed for estimating the attitude of a flying rigid body,
using measurements from low-cost inertial and magnetic sensors. It has by design a nice
geometrical structure appealing from an engineering viewpoint; it is easy to tune,
computationally very thrifty, and with guaranteed (at least local) convergence around every
trajectory. Moreover it behaves sensibly in the presence of acceleration and magnetic
disturbances. Experimental comparisons with a commercial device illustrate its good …