Decentralized Collaborative State Estimation for Aided Inertial Navigation
Roland Jung,Christian Brommer,Stephan Weiss,Roland Jung,Christian Brommer,Stephan Weiss
In this paper, we present a Quaternion-based Error-State Extended Kalman Filter (Q-ESEKF) based on IMU propagation with an extension for Collaborative State Estimation (CSE) and a communication complexity of O(1) (in terms of required communication links). Our approach combines a versatile filter formulation with the concept of CSE, allowing independent state estimation on each of the agents and a...
