J. L. Crassidis and J. L. Junkins, Optimal Estimation of Dynamic Systems, 2004.

J. L. Crassidis, F. L. Markley, and Y. Cheng, Survey of Nonlinear Attitude Estimation Methods, Journal of Guidance, Control and Dynamics, vol.30, issue.1, pp.12-28, 2007.

. Vasconcelos, . Silvestre, and . Oliveira, A nonlinear observer for rigid body attitude estimation using vector observations, 17th World Congres. The International of Automatic Control, pp.8599-8604, 2001.

S. Bonnabel, An intinsic CramérRao bound on SO(3) for (dynamic) attitude filtering, 2015.

P. Bernal-polo and H. Martnez-barber, Kalman Filtering for Attitude Estimation with Quaternions and Concepts from Manifold Theory, Sensors, vol.19, p.149, 2019.

N. Aghannan and P. Rouchon, An intrinsic observer for a class of Lagrangian systems, IEEE Trans. Autom. Control, vol.48, issue.6, pp.936-945, 2003.

S. Bonnabel, P. Martin, and P. Rouchon, Symmetry-preserving observers, IEEE Tansaction on Automatic Control, vol.53, issue.11, pp.2514-2526, 2008.
DOI : 10.1109/tac.2008.2006929
URL : https://hal.archives-ouvertes.fr/hal-00449206

S. Bonnabel, P. Martin, and P. Rouchon, Non-linear symmetrypreserving observers on Lie groups, IEEE Tansaction on Automatic Control, vol.54, issue.7, pp.1709-1713, 2009.
DOI : 10.1109/tac.2009.2020646
URL : http://arxiv.org/pdf/0707.2286

P. Martin, P. Rouchon, and J. Rudolph, Invariant tracking. ESAIM: Control, Optimisation and Calculus of Variations, vol.10, pp.1-13, 2004.
DOI : 10.1051/cocv:2003037
URL : https://www.esaim-cocv.org/articles/cocv/pdf/2004/01/cocv02314.pdf

P. Martin and E. Salaün, An invariant observer for earth-velocityaided attitude heading reference systems, Proceedings of the 17th IFAC World Congress, pp.9857-9864, 2008.

P. Martin and E. Salaün, Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors, Proceedings of the 46th IEEE Conference on Decision and Control, pp.1039-1045, 2007.
DOI : 10.1109/cdc.2007.4435006
URL : https://hal.archives-ouvertes.fr/hal-00533306

. Maithripala, W. Dayawansa, and J. Berg, Intrinsic observer-based stabilization for simple mechanical systems on Lie Groups, In SIAM Journal on Control and Optimization, vol.44, pp.1691-1711, 2005.
DOI : 10.1137/s0363012904439891

. Mahony, . Hamel, and J. Pflimlin, Nonlinear complementary filters on the special orthogonal group, IEEE Transaction Automatic Control, vol.53, pp.1203-1218, 2008.
DOI : 10.1109/tac.2008.923738
URL : https://hal.archives-ouvertes.fr/hal-00488376

C. Lagemann and R. Mahony, Observer design for invariant systems with homogeneous observations, 2008.

N. Aghannan and P. Rouchon, On invariant asymptotic observers, Proceedings of the 41st IEEE Conference on Decision and Control, pp.1479-1484, 2002.
DOI : 10.1109/cdc.2002.1184728
URL : http://arxiv.org/pdf/math/0612193v1.pdf

S. Bonnabel, Invariant asymptotic observers: theory and examples, 2007.
URL : https://hal.archives-ouvertes.fr/pastel-00004868

S. Bonnabel, P. Martin, and E. Salaün, Invariant Extended Kalman Filter: Theory and Application to a Velocity-Aided Attitude Estimation Problem, Proceedings of the 48th IEEE Conference on Decision and Control, pp.1297-1304, 2009.
DOI : 10.1109/cdc.2009.5400372
URL : https://hal.archives-ouvertes.fr/hal-00494342

S. Bonnabel, Left-invariant extended Kalman filter and attitude estimation, Proceedings of the 46th IEEE Conference on Decision and Control, pp.1027-1032, 2007.
DOI : 10.1109/cdc.2007.4434662

A. Barrau and S. Bonnabel, The Invariant Extended Kalman Filter as a Stable Observer, IEEE Transactions on Automatic Control, vol.62, issue.4, pp.1797-1812, 2017.
DOI : 10.1109/tac.2016.2594085
URL : https://hal.archives-ouvertes.fr/hal-01692380

M. Barczyk, S. Bonnabel, and J. Deschaud, Invariant EKF Design for Scan Matching-Aided Localization, IEEE Tansaction on Control Systems Technology, vol.23, issue.6, pp.2440-2448, 2015.
DOI : 10.1109/tcst.2015.2413933
URL : https://hal.archives-ouvertes.fr/hal-01256770

G. Bourmaud, R. Mégret, A. Giremus, and Y. Berthoumieu, Continuous-Discrete Extended Kalman Filter on Matrix Lie Groups Using Concentrated Gaussian Distributions, Journal Math Imaging Vis, 2014.
DOI : 10.1007/s10851-014-0517-0
URL : https://hal.archives-ouvertes.fr/hal-01311170

G. Bourmaud, R. Mégret, A. Giremus, and Y. Berthoumieu, Discrete extended Kalman filter on Lie groups, Signal Processing Conference (EUSIPCO), Proceedings of the 21st European, 2013.
DOI : 10.1007/s10851-014-0517-0
URL : https://hal.archives-ouvertes.fr/hal-00903252

J. Condomines, C. Seren, and G. Hattenberger, Pi-Invariant Unscented Kalman Filter for Sensor Fusion, Proceedings of the 53rd IEEE Conference on Decision and Control, pp.1035-1040, 2014.
DOI : 10.1109/cdc.2014.7039518
URL : https://hal.archives-ouvertes.fr/hal-01109001

J. Condomines, C. Seren, and G. Hattenberger, Nonlinear state estimation using an invariant unscented Kalman filter, Proc. of the AIAA Guidance, Navigation and Control Conf, pp.1-15, 2013.
DOI : 10.2514/6.2013-4869
URL : https://hal.archives-ouvertes.fr/hal-00933568

J. Condomines, C. Seren, and G. Hattenberger, Multisensor attitude estimation: fundamental concepts and applications, pp.391-408, 2017.

J. Condomines, C. Seren, and G. Hattenberger, Invariant Unscented Kalman Filter with application to attitude estimation, Proc. of the 56th IEEE Conf. on Decision and Control, hal-01509884v1, 2017.
DOI : 10.1109/cdc.2017.8264063
URL : https://hal.archives-ouvertes.fr/hal-01509884

M. Brossard, S. Bonnabel, and J. Condomines, Unscented Kalman Filtering on Lie Groups, IEEE/RSJ International Conference on Intelligent Robots and Systems, p.1489204, 2017.
DOI : 10.1109/iros.2017.8206066
URL : https://hal.archives-ouvertes.fr/hal-01489204

S. Hauberg, F. Lauze, and K. S. Pedersen, Unscented Kalman filter on Riemannian manifolds, J. Math. Imaging Vis, pp.1-18, 2013.

A. Barrau and S. Bonnabel, Invariant particle filtering with application to localization, Proceedings of the 53rd IEEE Conference on Decision and Control, pp.5599-5605, 2014.
DOI : 10.1109/cdc.2014.7040265

H. Snoussi and A. Mohammad-djafari, Particle filtering on Riemannian manifold, AIP Conference, vol.1, p.219, 2006.

F. Tompkins and P. J. Wolfe, Bayesian filtering on the Stiefel manifold, IEEE international Workshop on Computational Advances in Multi-Sensor Adaptative Processing, 2007.
DOI : 10.1109/camsap.2007.4498015

D. Li, Q. Li, L. Tang, S. Yang, and N. Cheng,

J. Song, Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors. Micromachines, vol.6, pp.487-522, 2015.

A. Barrau and S. Bonnabel, Intrinsic filtering on Lie groups with applications to attitude estimation, IEEE Tansaction on Automatic Control, vol.60, issue.2, pp.436-449, 2015.
DOI : 10.1109/tac.2014.2342911
URL : http://arxiv.org/pdf/1310.2539.pdf

S. Diemer and S. Bonnabel, An invariant linear quadratic Gaussian controller for a simplified car, Proceedings of the 2015 IEEE Conference on Robotics and Automation, pp.448-453, 2015.
DOI : 10.1109/icra.2015.7139037
URL : http://arxiv.org/pdf/1406.1619.pdf

A. Khosravian, J. Trumpf, R. Mahony, and C. Lageman, Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs, Automatica, vol.55, pp.19-26, 2015.
DOI : 10.1016/j.automatica.2015.02.030
URL : http://arxiv.org/pdf/1507.03770

S. J. Julier and J. K. Uhlmann, Unscented filtering and nonlinear estimation, Proceedings of the IEEE, vol.92, pp.401-422, 2004.
DOI : 10.1109/jproc.2003.823141
URL : http://www.cs.ubc.ca/~murphyk/Papers/Julier_Uhlmann_mar04.pdf

S. Sarkka, On unscented Kalman filtering for state estimation of continous-time nonlinear systems, IEEE Transaction on Automatic Control, vol.52, issue.9, pp.1631-1641, 2007.

R. Van-der-merwe and E. A. Wan, The square-root unscented Kalman filter for state and parameter estimation, Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing, pp.3461-3464, 2001.

M. Barczyk and A. F. Lynch, Invariant Observer Design for Helicopter UAV Aided Inertial Navigation System, IEEE Transaction on Control Systems Technology, vol.21, issue.3, pp.791-806, 2013.
DOI : 10.1109/tcst.2012.2195495

E. Salaün, Filtering algorithms and avionics systems for unmanned aerial vehicles, 2009.

S. J. Julier, The scaled unscented transformation, Proceedings of the 2002 American Control Conference, pp.4555-4559, 2002.
DOI : 10.1109/acc.2002.1025369
URL : http://www.cs.unc.edu/~welch/kalman/media/pdf/ACC02-IEEE1357.PDF

P. J. Olver, Classical Invariant Theory, 1999.