A synchronous nonlinear observer for LI-SLAM makes the full-state error dynamics almost globally asymptotically stable and locally exponentially stable by fusing intermittent GNSS and magnetometer measurements.
Synchronous observer de- sign for inertial navigation systems with almost-global convergence
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Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
A synchronous nonlinear observer for LI-SLAM makes the full-state error dynamics almost globally asymptotically stable and locally exponentially stable by fusing intermittent GNSS and magnetometer measurements.