IterIEKF is formulated for landmark-based inertial 3D localization for the first time and shown in simulations to outperform SO(3)-EKF, iterated SO(3)-EKF, and IEKF on accuracy and consistency.
arXiv preprint arXiv:2208.03376 (2022)
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Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation
IterIEKF is formulated for landmark-based inertial 3D localization for the first time and shown in simulations to outperform SO(3)-EKF, iterated SO(3)-EKF, and IEKF on accuracy and consistency.