Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

This study proposes an enhanced integration algorithm that combines the magnetic field-based positioning system (MPS—Magnetic Pose Estimation System) with an inertial system with the advantage of an invariant filter structure. Specifically, to mitigate the nonlinearity of the propagation model and p...

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Bibliographic Details

Published in:	Aerospace
Main Authors:	Taehoon Lee, Byungjin Lee, Sangkyung Sung
Format:	Article
Language:	English
Published:	MDPI AG 2024-03-01
Subjects:	invariant Kalman filter navigation MPS estimate uncertainty convergence
Online Access:	https://www.mdpi.com/2226-4310/11/4/268