Equivariant filtering framework for inertial-integrated navigation

Abstract This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As kinematic system of navigation can be naturally modeled on matrix Lie group SE 2 (3), symmetry exploited to design equivariant filter which extends invariant extended Kalman filtering group-affine and overcomes inconsitency issue traditional extend filter. We firstly formulate dynamics as systems. Then, we prove left properties dynamics. Finally, earth-centered earth-fixed frame local geodetic frame. The experiments show superiority proposed filters when confronting large misalignment angles in Global Navigation Satellite (GNSS)/Inertial System (INS) loosely integrated experiments.