no code implementations • 25 Feb 2021 • Yarong Luo, Chi Guo, Shenyong You, Jianlang Hu, Jingnan Liu
With the new velocity and position error definition, we leverage the group affine dynamics with the autonomous error properties and derive the error state differential equation for the inertial-integrated navigation on the north-east-down local-level navigation frame and the earth-centered earth-fixed frame, respectively, the corresponding extending Kalman filter (EKF), terms as $SE_2(3)$-EKF has also been derived.
Robotics
