@inproceedings{inproceedingse1f04c78,
title   = {Estimation of trajectories of pipeline PIGs using inertial measurements and non linear sensor fusion},
author = {Santana, Douglas Daniel Sampaio and Maruyama, Newton and Furukawa, Celso Massatoshi},
year = {2010},
doi = {10.1109/INDUSCON.2010.5739911},
publisher = {IEEE},
booktitle   = {International Conference on Industry Aplications - INDUSCON}
}