4 papers
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,…
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…
Visual-inertial state estimation based on Chebyshev polynomial optimization
Hongyu Zhang, Maoran Zhu, Qi Cai +1
This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev po…
Investigation of Enhanced Inertial Navigation Algorithms by Functional Iteration
Hongyan Jiang, Maoran Zhu, Yuanxin Wu
The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying…