Equivariant filtering framework for inertial-integrated navigation

Abstract This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As the kinematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE 2(3), the symmetry of the Lie group can be exploited to design an equi...

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Bibliographic Details

Published in:	Satellite Navigation
Main Authors:	Yarong Luo, Chi Guo, Jingnan Liu
Format:	Article
Language:	English
Published:	SpringerOpen 2021-12-01
Subjects:	SE 2(3) matrix Lie group Inertial-integrated navigation Equivariant filtering Group-affine dynamic Invariant system Autonomous error
Online Access:	https://doi.org/10.1186/s43020-021-00061-z