Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation
Roland Jung Stephan Weiss Roland Jung Stephan Weiss
This paper presents a novel approach to recover outdated cross-covariance between correlated agents at the moment they perform joint observations. This allows to render Collaborative State Estimation (CSE) fully distributed, with communication only required for the moment of joint observation and most importantly, it significantly reduces the maintenance effort in case of high frequent propagation...