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cs.RO2026
A Sliding Window Filter on the Galilean Group for Consistent Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly
We study aided inertial navigation when the aiding sensor measurements are subject to an unknown constant delay. The goal is to estimate the delay and navigation state jointly so t…
cs.RO2026
Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly, Phone Thiha Kyaw, Matthew Giamou
In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Accurate state estimation requires that delays be accounted for and, w…
cs.RO2026
On the Identifiability of Aided Inertial Navigation Under Measurement Delays: A Geometric Approach
Jonathan Kelly
In aided inertial navigation, measurements from different sensors are often subject to unknown relative time delays. Consider a single aiding sensor whose measurements have an unkn…