Globally Asymptotic Stable Attitude Estimation with Application to MEMS Sensors Wei Jiang, Weiguo Zhang, Jingping Shi, Yongxi Lyu and Huakun Chen JNWPU, 38 3 (2020) 550-557 Published online: 06 August 2020 DOI: 10.1051/jnwpu/20203830550