Abstract
This paper deals with invariant extended Kalman filter (IEKF) which has a trajectory-independent property by defining the error state using the Lie group, unlike the conventional Kalman filter. Inertial navigation system (INS) is a widely used navigation solution providing 6 degrees of freedom motion. Since the performance of the INS tends to deteriorate with time, it requires another aiding sensor. In the fusion of the INS and such aiding sensor, the Kalman filter or its variants are mainly adopted. Specifically, it is well-known that an IEKF is effective when the initial attitude estimation error is large. There are two types of IEKFs, left IEKF (LIEKF) and right IEKF (RIEKF). It is known to be advantageous to adopt the LIEKF for the left-invariant measurements and right-IEKF for the right-invariant measurements. However, there have been few studies that have analyzed in detail the degradation of performance when it is used with the opposite IEKF. Therefore, this paper evaluates the performance of left-/right-IEKF according to the invariancy of a sensor measurement.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
