2 papers
cs.RO2021
The Complex-Step Derivative Approximation on Matrix Lie Groups
Charles Champagne Cossette, Alex Walsh, James Richard Forbes
The complex-step derivative approximation is a numerical differentiation technique that can achieve analytical accuracy, to machine precision, with a single function evaluation. In…
cs.RO2021
Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation
Natalia Pavlasek, Alex Walsh, James Richard Forbes
This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called…