# Combined Quaternion-Based Error State Kalman Filtering and Smooth Variable Structure Filtering for Robust Attitude Estimation

> Research article (IEEE Access, 2019) · cited 46× · AI/ML

**Wikidata**: [openalex:W2979684877](https://www.wikidata.org/wiki/openalex:W2979684877)  
**Source**: https://4ort.xyz/entity/combined-quaternion-based-error-state-kalman-filtering-and-smooth-variable-structure-filtering-for-robust-attitude-estim