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Signal Process."],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>State estimation techniques appear in a plethora of engineering fields, in particular for the attitude estimation application of interest in this contribution. A number of filters have been devised for this problem, in particular Kalman-type ones, but in their standard form they are known to be fragile against outliers. In this work, we focus on error-state filters, designed for states living on a manifold, here unit-norm quaternions. We propose extensions based on robust statistics, leading to two robust <jats:italic>M<\/jats:italic>-type filters able to tackle outliers either in the measurements, in the system dynamics or in both cases. The performance and robustness of these filters is explored in a numerical experiment. 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