15 citations · 31 across the 12 of their papers we have counts for
3 papers · 1 filter
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
Alessandro Fornasier, Pieter van Goor, Eren Allak +2
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in an…
Revisiting multi-GNSS Navigation for UAVs -- An Equivariant Filtering Approach
Martin Scheiber, Alessandro Fornasier, Christian Brommer +1
In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional s…
Equivariant Symmetries for Inertial Navigation Systems
Alessandro Fornasier, Yixiao Ge, Pieter van Goor +2
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the…