@article {,
	title = {UAV attitude estimation using unscented kalman filter and TRIAD},
	journal = {IEEE Transactions on Industrial Electronics},
	volume = {59},
	year = {2012},
	month = {12/2012},
	pages = {4456-4474},
	publisher = {IEEE},
	address = {EEUU},
	issn = {0278-0046.},
	doi = {10.1109/TIE.2011.2163913},
	author = {H. Garcia and F. J. Pereda and J. M. Giron and Felipe Espinosa}
}
