Abstract:For invariant attitude dynamics evolving on matrix Lie groups, by proposing the stochastic feedback-based covariance calibration scheme, an adaptive invariant Kalman filter (AIKF) is elaborated to deal with the attitude estimation problems corrupted by unknown or inaccurate process noise statistics. The invariant Kalman filter (IKF) takes into account the geometry property of attitude dynamics and can boost the estimation performance; however, IKF requires accurate knowledge of the noise statistics and an inco… Show more
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