An InEKF framework is introduced that integrates partial orientation measurements (roll/pitch from horizon, yaw from dual-antenna GPS) via a planar-frame projection and infinite covariance, and is validated in marine simulation.
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Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
An InEKF framework is introduced that integrates partial orientation measurements (roll/pitch from horizon, yaw from dual-antenna GPS) via a planar-frame projection and infinite covariance, and is validated in marine simulation.