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.
An Adaptive Sensor Fusion Method with Applications in Integrated Navigation
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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.