H. Zhou, H. Hu, N. D. Harris, and J. Hammerton, Applications of wearable inertial sensors in estimation of upper limb movements, Biomedical Signal Processing and Control, vol.1, issue.1, pp.22-32, 2006.
DOI : 10.1016/j.bspc.2006.03.001

K. J. O-'donovan, R. Kamnik, D. T. O-'keeffe, and G. M. Lyons, A inertial and magnetic sensor based technique for joint angle measurement, Journal of Biomechanics, vol.40, issue.12, pp.2604-2611, 2007.

W. T. Ang, P. K. Khosla, and C. N. Riviere, Kalman filtering for real-time orientation tracking of handheld microsurgical instrument, IEEERSJ International Conference on Intelligent Robots and Systems, pp.2574-2580, 2004.

R. Mahony, T. Hamel, and J. M. Pflimlin, Nonlinear Complementary Filters on the Special Orthogonal Group, IEEE Transactions on Automatic Control, vol.53, issue.5, pp.1203-1218, 2008.
DOI : 10.1109/TAC.2008.923738
URL : https://hal.archives-ouvertes.fr/hal-00488376

C. Rutz and G. C. Hays, New frontiers in biologging science, Biology Letters, vol.4, issue.2, pp.289-291, 2009.
DOI : 10.1152/jn.00879.2005

Y. Ropert-coudert, M. Beaulieu, N. Hanuise, and A. Kato, Diving into the world of biologging, Endangered Species Research, vol.10, pp.21-27, 2009.
DOI : 10.3354/esr00188
URL : https://hal.archives-ouvertes.fr/hal-00379474

L. G. Halsey, Y. Handrich, A. Fahlman, A. Schmidt, C. A. Bost et al., Fine-scale analyses of diving energetics in king penguins Aptenodytes patagonicus: how behaviour affects costs of a foraging dive, Marine Ecology Progress Series, vol.344, pp.299-309, 2007.
DOI : 10.3354/meps06896
URL : https://hal.archives-ouvertes.fr/hal-00183049

. Ropert-coudert, Change in dive profiles as an indicator of feeding success in king and Adélie penguins, Deep-Sea Research II, vol.54, issue.3-4, pp.248-255, 2007.

B. J. Le-boeuf, D. E. Crocker, D. P. Costa, S. P. Blackwell, P. M. Webb et al., FORAGING ECOLOGY OF NORTHERN ELEPHANT SEALS, Ecological Monographs, vol.70, issue.3, pp.353-382, 2000.
DOI : 10.1111/j.1469-7998.1992.tb04821.x

G. L. Kooyman, Genesis and evolution of bio-logging devices: 1963-2002, Memoirs of the National Institute of Polar Research, pp.148-154, 2004.

G. H. Elkaim, E. B. Decker, G. Oliver, and B. Wright, Marine Mammal Marker (MAMMARK) Dead Reckoning Sensor for In-Situ Environmental Monitoring, 2006 IEEE/ION Position, Location, And Navigation Symposium, pp.976-987, 2006.
DOI : 10.1109/PLANS.2006.1650699

M. P. Johnson and P. L. Tyack, A digital acoustic recording tag for measuring the response of wild marine mammals to sound, IEEE Journal of Oceanic Engineering, vol.28, issue.1, pp.3-12, 2003.
DOI : 10.1109/JOE.2002.808212

S. Watanabe, M. Isawa, A. Kato, Y. Coudert, and Y. Naito, A new technique for monitoring the detailed behaviour of terrestrial animals: A case study with the domestic cat, Applied Animal Behaviour Science, vol.94, issue.1-2, pp.117-131, 2005.
DOI : 10.1016/j.applanim.2005.01.010

R. Wilson, E. L. Shepard, and N. Liebsch, Prying into the intimate details of animal lives: use of a daily diary on animals, Endangered Species Research, vol.4, pp.123-137, 2008.
DOI : 10.3354/esr00064

H. Fourati, N. Manamanni, L. Afilal, and Y. Handrich, A rigid body attitude estimation for Bio-logging application: A quaternion-based nonlinear filter approach, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.558-563, 2009.
DOI : 10.1109/IROS.2009.5354478

H. Fourati, N. Manamanni, L. Afilal, and Y. Handrich, A Nonlinear Filtering Approach for the Attitude and Dynamic Body Acceleration Estimation Based on Inertial and Magnetic Sensors: Bio-Logging Application, IEEE Sensors Journal, vol.11, issue.1, pp.233-244, 2011.
DOI : 10.1109/JSEN.2010.2053353
URL : https://hal.archives-ouvertes.fr/hal-00520549

Y. Naito, New steps in bio-logging science Memoirs of National Institute of Polar Research, special issue, pp.50-57, 2004.

H. Goldstein, Classical Mechanics. 2 nd Ed, 1980.

M. S. Grewal, L. R. Weill, and A. P. Andrews, Global positioning systems, inertial navigation, and integration, 2001.

J. B. Kuipers, Quaternion and Rotation Sequences, 1999.
DOI : 10.7546/giq-1-2000-127-143

J. F. Guerrero-castellanos, Estimation de l'attitude et commande borne en attitude d'un corps rigide: Application à un hélicoptère à quatre rotors, 2008.

. Astrosurf, Available: http, 2009.

D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology. 2 nd Ed, UK: The institution of Electrical Engineers, 2004.

H. Fourati, N. Manamanni, L. Afilal, and Y. Handrich, Posture and body acceleration tracking by inertial and magnetic sensing: Application in behavioral analysis of free-ranging animals, Biomedical Signal Processing and Control, vol.6, issue.1, pp.94-104, 2011.
DOI : 10.1016/j.bspc.2010.06.004
URL : https://hal.archives-ouvertes.fr/hal-00642357

R. G. Brown and P. Y. Hwang, Introduction to Random Signal and Applied Kalman Filtering

M. D. Shuster, A survey of attitude representations, Journal of the Astronautical Science, vol.41, issue.4, pp.493-517, 1993.

H. Fourati, N. Manamanni, A. Benjemaa, L. Afilal, and Y. Handrich, A quaternion-based Complementary Sliding Mode Observer for attitude estimation: Application in free-ranging animal motions, 49th IEEE Conference on Decision and Control (CDC), pp.5056-5061, 2010.
DOI : 10.1109/CDC.2010.5718071
URL : https://hal.archives-ouvertes.fr/hal-00642928

H. Fourati, N. Manamanni, L. Afilal, P. Van-hove, and Y. Handrich, A complementary observer-based approach for the estimation of motion in rigid bodies using inertial and magnetic sensors, 2010 IEEE International Conference on Control Applications, pp.422-427, 2010.
DOI : 10.1109/CCA.2010.5611292

J. E. Dennis, J. , and R. B. Schnabel, Numerical Methods for Unconstrained Optimization and Nonlinear Equations, 1983.
DOI : 10.1137/1.9781611971200

D. W. Marquardt, An Algorithm for Least-Squares Estimation of Nonlinear Parameters, Journal of the Society for Industrial and Applied Mathematics, vol.11, issue.2, pp.431-441, 1963.
DOI : 10.1137/0111030

J. Deutschmann, I. Bar-itzhack, and K. Galal, Quaternion normalization in spacecraft attitude determination, Guidance, Navigation and Control Conference, pp.27-37, 1992.
DOI : 10.2514/6.1992-4366

U. Steinhoff and B. Schiele, Dead reckoning from the pocket - An experimental study, 2010 IEEE International Conference on Pervasive Computing and Communications (PerCom), pp.162-170, 2010.
DOI : 10.1109/PERCOM.2010.5466978

Q. Ladetto, Capteurs et Algorithmes pour la localisation Autonome en Mode Pédestre, 2003.

L. Ojeda and J. Borenstein, Non-GPS Navigation for Security Personnel and First Responders, Journal of Navigation, vol.21, issue.03, pp.391-407, 2007.
DOI : 10.1109/TIM.2005.853562

. Fig, 1 Schematic diagram of how an Inertial Measurement Unit is attached to a penguin Fig. 2 The coordinate system ( ) B of a rigid body represented in the Earth-fixed frame ( ) N Acceleration Angular velocity Earth's magnetic field MTi MTi--G G Acceleration Angular velocity Earth's magnetic field