$S{E}_2(3)$ based Extended Kalman Filtering and Smoothing Framework for Inertial-Integrated Navigation

Yarong Luo, Chi Guo, Shengyong You +2

This paper proposes an $S{E}_2(3)$ based extended Kalman filtering (EKF) framework for the inertial-integrated state estimation problem. The error representation using the straight d…