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Instructions: 

Please run these notebooks in Mathematica. 
From that program, the files will be readable. 

Don't try to read the files in a text editor. 

Lines followed by semicolons are visually suppressed. 
To see the output of a line, remove the semicolon and 
reevaluate the file. 
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The relevant works: 

1) ObsAnalysis1.nb: 
Inertial Yaw-Independent Velocity and Attitude Estimation for High Speed Quadrotor Flight

2) ObsAnalysis2.nb: 
Imu-Based Inertia Estimation For a Auadrotor Using Newton-Euler Dynamics
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