We recently demonstrated the feasibility in estimating the rotation of a rigid body (attitude), by the only mean of accelerometer and gyroscope. Find our paper on IEEE Transactions on Automatic Control: https://ieeexplore.ieee.org/document/9308988
These results are fundamental for localization in presence of strong magnetic fields, which provoke saturation or artefacts in magnetometers.
Saturations in the magnetometer are observed in magnetic localization methods, as well as in many other examples such as drones (electrical motors induced field), indoors cenarios (electromagnetic devices). This work is a fundamental step for demonstrating we can estimate the attitude without magnetometer and guarantee a reliable localization in every environment.