Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem

Silvere Bonnabel, Philippe Martin, Erwan Sala√ľn. Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem. In Proceedings of the 48th IEEE Conference on Decision and Control, CDC 2009, combined withe the 28th Chinese Control Conference, December 16-18, 2009, Shanghai, China. pages 1297-1304, IEEE, 2009. [doi]

Abstract

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