Covariance regulation based invariant Kalman filtering for attitude estimation on matrix Lie groups
Abstract For matrix Lie groups attitude estimation problems with the trouble of unknown/inaccurate process noise covariance, by elaborating the proportion based covariance regulation scheme, this work proposes a novel version of adaptive invariant Kalman filter (AIKF). Invariant Kalman filter (IKF)...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-10-01
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| Series: | IET Control Theory & Applications |
| Online Access: | https://doi.org/10.1049/cth2.12179 |