Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

Invariant Kalman Filter Design for Securing Robust Performance of Magnetic–Inertial Integrated Navigation System under Measurement Uncertainty

This study proposes an enhanced integration algorithm that combines the magnetic field-based positioning system (MPS—Magnetic Pose Estimation System) with an inertial system with the advantage of an invariant filter structure. Specifically, to mitigate the nonlinearity of the propagation model and p...

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Bibliographic Details
Main Authors: Taehoon Lee, Byungjin Lee, Sangkyung Sung
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Aerospace
Subjects:
invariant Kalman filter
navigation
MPS
estimate uncertainty
convergence
Online Access:https://www.mdpi.com/2226-4310/11/4/268

Internet

https://www.mdpi.com/2226-4310/11/4/268

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