@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 = {MPDI}, address = {Suiza}, issn = {1424-8220}, doi = {10.3390/s120709566}, author = {H. Garc{\'\i}a and Felipe Espinosa and C. Santos} }