Performance analysis of derivative-free estimation methods from the perspective of attitude estimation influenced by real dataRoberta V. Garcia, Hélio K. Kuga, William R. Silva, Leandro Baroni, Maria C. F. P. S. Zanardi and Paula C. P. M. PardalEur. Phys. J. Spec. Top., 232 18-19 (2023) 2937-2948DOI: https://doi.org/10.1140/epjs/s11734-023-01014-0