most citedLog-linear Error State Model Derivation without Approximation for INS

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cs.RO2022★ 1 cited

Log-linear Error State Model Derivation without Approximation for INS

Lubin Chang, Yarong Luo

Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Li…