Four classical and invariant error-state Kalman filters for global aided INS are derived in full, with system matrices, Jacobians and reset rules presented for direct comparison.
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Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems
Four classical and invariant error-state Kalman filters for global aided INS are derived in full, with system matrices, Jacobians and reset rules presented for direct comparison.