Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation
Natalia Pavlasek Alex Walsh James Richard Forbes Natalia Pavlasek Alex Walsh James Richard Forbes
This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the position of one receiver and the relative position between the two receivers is left invariant, enabling the use of the invariant extended Kalman filter (IEKF) frame...