IterIEKF applied to landmark-aided 3D inertial navigation outperforms SO(3)-EKF, IterSO(3)-EKF and IEKF by ~80% in position/velocity MAE and yields better NEES consistency in simulation.
arXiv preprint arXiv:2208.03376 (2022)
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Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation
IterIEKF applied to landmark-aided 3D inertial navigation outperforms SO(3)-EKF, IterSO(3)-EKF and IEKF by ~80% in position/velocity MAE and yields better NEES consistency in simulation.