105 citations · 194 across the 11 of their papers we have counts for
11 papers
Log-linear Error State Model Derivation without Approximation for INS
Lubin Chang, Yarong Luo
Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Li…
MEKF Ignoring Initial Conditions for Attitude Estimation Using Vector Observations
Lubin Chang
In this paper, the well-known multiplicative extended Kalman filter (MEKF) is re-investigated for attitude estimation using vector observations. From the Lie group theory, it is sh…
Inertial based Integration with Transformed INS Mechanization in Earth Frame
Lubin Chang, Jingbo Di, Fangjun Qin
This paper proposes to use a newly-derived transformed inertial navigation system (INS) mechanization to fuse INS with other complementary navigation systems. Through formulating t…
Strapdown Inertial Navigation System Initial Alignment based on Group of Double Direct Spatial Isometries
Lubin Chang, Fangjun Qin, Jiangning Xu
The task of strapdown inertial navigation system (SINS) initial alignment is to calculate the attitude transformation matrix from body frame to navigation frame. In this paper, suc…
SE(3) based Extended Kalman Filter for Spacecraft Attitude Estimation
Lubin Chang
In this paper, the spacecraft attitude estimation problem has been investigated making use of the concept of matrix Lie group. Through formulation of the attitude and gyroscope bia…
Semi-Analytic Method for SINS Attitude and Parameters Online Estimation
Lubin Chang
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains…
Alternate Derivation of Geometric Extended Kalman Filter by MEKF Approach
Lubin Chang
This note is devoted to deriving the measurement update of the geometric extended Kalman filter using the multiplicative extended Kalman filtering approach, resulting in the attitu…
Dynamic Analytical Initialization Method for Spacecraft Attitude Estimators
Lubin Chang, Fangjun Qin
This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts:…
On Kalman-Like Finite Impulse Response Filters
Lubin Chang
This note reveals an explicit relationship between two representative finite impulse response (FIR) filters, i.e. the newly derived and popularized Kalman-Like unbiased FIR filter…
Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation: A Revisit
Lubin Chang
In this note, we have revisited the previously published paper "Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation". In the revisit, we point out…
Optimization-based Alignment for Strapdown Inertial Navigation System Comparison and Extension
Lubin Chang, Jingshu Li, Kailong Li
In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigat…