3 papers
eess.SY2025
CT-ESKF: A General Framework of Covariance Transformation-Based Error-State Kalman Filter
Jiale Han, Wei Ouyang, Maoran Zhu +1
Invariant extended Kalman filter (InEKF) possesses excellent trajectory-independent property and better consistency compared to conventional extended Kalman filter (EKF). However,…
cs.RO2024
An Immediate Update Strategy of Multi-State Constraint Kalman Filter
Qingchao Zhang, Wei Ouyang, Jiale Han +3
The lightweight Multi-state Constraint Kalman Filter (MSCKF) has been well-known for its high efficiency, in which the delayed update has been usually adopted since its proposal. T…
eess.SY2023
Clifford Algebra-Based Iterated Extended Kalman Filter with Application to Low-Cost INS/GNSS Navigation
Wei Ouyang, Yutian Wang, Yuanxin Wu
The traditional GNSS-aided inertial navigation system (INS) usually exploits the extended Kalman filter (EKF) for state estimation, and the initial attitude accuracy is key to the…