105 citations · 194 across the 11 of their papers we have counts for
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cs.RO2021★ 7 cited
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…
cs.RO2021★ 3 cited
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…
cs.RO2021★ 68 cited
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…