Section I Preliminaries on Attitude Representations and Rotations. What Are Quaternions and Why Haven’t I Heard of Them? Rotation in 3D Space. Attitude Parametrization, Kinematics, and Dynamics. Section II Multisensor Filtering for Attitude Estimation: Theories and Applications. Stable Estimation of Rigid Body Motion Based on the Lagrange?d’Alembert Principle. The Additive and Multiplicative Approaches to Quaternion Kalman Filtering. Spacecraft Attitude Determination. How to Deal with the External Acceleration When Estimating the Attitude Using Inertial Measurement Units: A Linear Kalman-Based Filtering Approach. From Attitude Estimation to Pose Estimation Using Dual Quaternions. Distributed Estimation for Spatial Rigid Motion Based on Dual Quaternions. A Quaternion Orientation from Earth Field Observations Using the Algebraic Quaternion Algorithm: Analysis and Applications in Fusion Algorithms. Recent Nonlinear Attitude Estimation Algorithms. Low Complexity Sensor Fusion Solution for Accurate Estimation of Gravity and Linear Acceleration. Deterministic Attitude Estimation. Attitude Estimations with Intermittent Observations. Estimation of Attitude from a Single-Direction Sensor. Cooperative Attitude Estimation Based on Remote-Access Observations. Nonlinear Observer for Attitude, Position, and Velocity: Theory and Experiments. Spacecraft Attitude Estimation Using Sparse Grid Quadrature Filtering. Attitude Estimation for Small, Low-Cost UAVs: A Tutorial Approach. 3D Orientation Estimation Using Wearable MEMS Inertial/Magnetic Sensors. Adaptive Data Fusion of Multiple Sensors for Vehicle Pose Estimation. Optimal Invariant Observers Theory for Nonlinear State Estimation. Design and Implementation of Low-Cost Attitude Heading References Systems for Micro Aerial Vehicles. Small Satellite Attitude Determination. A Hybrid Data Fusion Approach for Robust Attitude Estimation. Integration of Single-Frame and Filtering Methods for Nanosatellite Attitude Estimation. Ego-Motion Tracking in Dynamic Environments Using Wearable Visual-Inertial Sensors. Attitude Estimation for a Small-Scale Flybarless Helicopter. A Comparison of Multisensor Attitude Estimation Algorithms. Low-Cost and Accurate Reconstruction of Postures via IMU. Attitude Estimation of a UAV Using Optical Flow. Index.