Recently, autonomous navigation in indoor environments has received increasing attention from the research community. In fact, different autonomous systems are going to be adopted also in these environments to support various applications, for instance, for logistic operations to perform some inspection and monitoring tasks in industrial plants as well as in greenhouses. In these scenarios, it is fundamental to know not only the target’s position but also its attitude. Regarding the position estimation, usually the Ultra-Wideband (UWB) technology is employed providing accurate Time of Arrival (ToA) measurements while for the attitude estimation, Inertial Measurement Units (IMU) sensors are typically used allowing to estimate roll and pitch of the target.