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eess.SP2026
Gauge Freedom Optimization for Truncation Error Reduction in Inertial Navigation
Yaakov Libero, Itzik Klein
Numerical integration plays a central role in inertial navigation systems, where sensor measurements are propagated through time to obtain orientation, velocity, and position state…
eess.SP2026
Multi-Scaled Unscented Kalman Filter
Amit Levy, Itzik Klein
The unscented Kalman filter (UKF) is a commonly used algorithm capable of estimating the states of nonlinear dynamic systems. It carefully chooses a set of sample points, called si…