On the error state selection for stationary SINS alignment and calibration Kalman filters – part I: Estimation algorithms☆
Sign Up to like & getrecommendations! Published in 2017 at "Aerospace Science and Technology"
DOI: 10.1016/j.ast.2016.11.019
Abstract: Abstract This paper presents the first part of a study aiming at error state selection in Kalman filters applied to the stationary self-alignment and calibration (SSAC) problem of strapdown inertial navigation systems (SINS). Estimation algorithms… read more here.
Keywords: state; kalman; error; error state ... See more keywords
Robust train localisation method based on advanced map matching measurement-augmented tightly-coupled GNSS/INS with error-state UKF
Sign Up to like & getrecommendations! Published in 2023 at "Journal of Navigation"
DOI: 10.1017/s0373463323000097
Abstract: This paper presents a robust train localisation system by fusing a Global Navigation Satellite System (GNSS) with an Inertial Navigation System (INS) in a tightly-coupled (TC) strategy. To improve navigation performance in GNSS partly blocked… read more here.
Keywords: state; gnss ins; measurement augmented; error state ... See more keywords
Combined Quaternion-Based Error State Kalman Filtering and Smooth Variable Structure Filtering for Robust Attitude Estimation
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DOI: 10.1109/access.2019.2946609
Abstract: This paper presents a novel robust quaternion-based error state Kalman filter (ESKF) for coping with modeling uncertainty in inertial measurement unit (IMU)-based attitude estimation. The smooth variable structure filter (SVSF) has recently been proposed and… read more here.
Keywords: state kalman; svsf; eskf; quaternion based ... See more keywords
Anderson Acceleration for on-Manifold Iterated Error State Kalman Filters
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3214056
Abstract: Iterated Extended Kalman Filter is a promising and widely-used estimator for real-time localization applications. It iterates the observation equation to find a better linearization point and, simultaneously, only maintains the state estimation in a single… read more here.
Keywords: error state; kalman; state; anderson acceleration ... See more keywords