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Error-State Kalman Filtering with Linearized State Constraints

In recent years, the error-state Kalman filter (ErKF) has been widely employed in various applications, including robotics, aerospace, and localization. However, incorporating state constraints into the ErKF framework using the estimate projection method remains ambiguous. This paper examines this i...

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Principais autores: Hoang Viet Do, Jin-woo Song
פורמט: Artigo
שפה:Inglês
יצא לאור: MDPI AG 2025-03-01
סדרה:Aerospace
נושאים:
constrained error-state Kalman filter
linearized constraints
state estimation
גישה מקוונת:https://www.mdpi.com/2226-4310/12/3/243
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