@article {, title = {Adaptive UAV attitude estimation employing unscented kalman filter, FOAM and low-cost MEMS sensors}, journal = {Sensors}, volume = {12}, year = {2012}, month = {07/2012}, pages = {9566 - 9585 }, publisher = {MDPI}, address = {Suiza}, issn = {1424-8220}, doi = {10.3390/s120709566}, author = {Garcia de Marina, H. and Felipe Espinosa and C. Santos} }