A Mathematical Framework for IMU Error Propagation with Applications to Preintegration
Axel Barrau,Silvère Bonnabel,Axel Barrau,Silvère Bonnabel
To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a nontrivial result, namely log-linearity of inertial navigation equations based on the recently introduced Lie group SE2(3), to transpose the recent methodology ...
