Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases
Alessandro Fornasier,Yonhon Ng,Robert Mahony,Stephan Weiss,Alessandro Fornasier,Yonhon Ng,Robert Mahony,Stephan Weiss
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geometry and symmetry to overcome limitations of the classical Extended Kalman Filter (EKF) approach that formed the mainstay of INS systems since the mid-twentieth century. The industry standard INS filter, the Multiplicati...
