A certifiable globally optimal solver for GNSS-local frame alignment is obtained by relaxing a nonconvex QCQP to a concave Lagrangian dual and deriving tightness criteria from observability analysis.
P 3- lins: Tightly coupled ppp-gnss/ins/lidar navigation system with effective initialization
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Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality
A certifiable globally optimal solver for GNSS-local frame alignment is obtained by relaxing a nonconvex QCQP to a concave Lagrangian dual and deriving tightness criteria from observability analysis.