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eess.SY2023★ 1 cited
A Quick Guide for the Iterated Extended Kalman Filter on Manifolds
Jianzhu Huai, Xiang Gao
The extended Kalman filter (EKF) is a common state estimation method for discrete nonlinear systems. It recursively executes the propagation step as time goes by and the update ste…
eess.SY2022★ 1 cited
NOCT: Nonlinear Observability with Constraints and Time Offset
Jianzhu Huai, Yukai Lin, Yujia Zhang
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observabilit…