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eess.SY2025
Supervisory Measurement-Guided Noise Covariance Estimation: Discussing Forward and Reverse Differentiation
Haoying Li, Yifan Peng, Yuchi Wu +1
Reliable state estimation depends on accurately modeled noise covariances, which are difficult to determine in practice. This paper formulates the noise covariance estimation as a…
eess.SY2024
Covariance Intersection-based Invariant Kalman Filtering(DInCIKF) for Distributed Pose Estimation
Haoying Li, Xinghan Li, Shuaiting Huang +2
This paper presents a novel approach to distributed pose estimation in the multi-agent system based on an invariant Kalman filter with covariance intersection. Our method models un…