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3 papers · 1 filter
cs.RO2026
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Giulio Delama, Martin Scheiber, Yixiao Ge +3
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However…
cs.RO2025
The Difference between the Left and Right Invariant Extended Kalman Filter
Yixiao Ge, Giulio Delama, Martin Scheiber +4
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent dev…
cs.RO2025
Equivariant Filter Design for Range-only SLAM
Yixiao Ge, Arthur Pearce, Pieter van Goor +1
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in t…