This paper proposes a equivariant filtering (EqF) framework for the inertial-integrated state estimation problem. As the kinematic system of the inertial-integrated navigation can be naturally modeling on the matrix Lie group SE2(3), the symmetry of the Lie group can be exploited to design a equivariant filter which extends the invariant extended Kalman filtering on the group affine system. Furthermore, details of the analytic state transition matrices for left invariant error and right invariant error are given.
@article{arxiv.2103.14873,
title = {Equivariant Filtering Framework for Inertial-Integrated Navigation},
author = {Yarong Luo and Chi Guo and Jingnan Liu},
journal= {arXiv preprint arXiv:2103.14873},
year = {2021}
}
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arXiv admin note: text overlap with arXiv:2102.12897