1 code implementation • 7 Oct 2023 • James Goppert, Li-Yu Lin, Kartik Pant, Benjamin Perseghetti
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are attached.
no code implementations • 7 Nov 2022 • Li-Yu Lin, James Goppert, Inseok Hwang
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie groups.
