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cs.RO2026
Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation
Antonia Hager, Torleiv H. Bryne
Closed-loop (or feedback) error-state Kalman filters with their relatives and offspring are the state-of-the-art in modern aided inertial navigation research. Estimated inertial na…
cs.RO2026
Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems
Antonia Hager, Torleiv H. Bryne
Global navigation systems require state estimation algorithms that handle Earth's curvature, Earth's rotation, and gravitational variations. These factors can typically be neglecte…