Nonlinear Kalman Filter for Multi-Sensor Navigation of Unmanned Aerial Vehicles covers state estimation development approaches for Mini-UAV. The book focuses on Kalman filtering technics for UAV design, proposing a new design methodology and case study related to inertial navigation systems for drones. Both simulation and real experiment results are presented, thus showing new and promising perspectives. The use of Unmanned Aerial Vehicles (UAVs) is exploding in the civil sector. Although UAVs are old news in the military sector, they are a brand new field for civil applications, such as pipeline monitoring, public protection or tools for processing and analyzing crops. New applications that use UAVs as experimental vectors are currently being researched.