Equivariance is a common and natural property of many nonlinear control systems,
especially those associated with models of mechatronic and navigation systems. Such …

This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state
estimation. As the kinematic system of the inertial-integrated navigation can be naturally …

This paper investigates the problem of inertial navigation system (INS) filter design through
the lens of symmetry. The extended Kalman filter (EKF) and its variants, have been the …

Inertial Navigation Systems (INS) are a key technology for autonomous vehicles
applications. Recent advances in estimation and filter design for the INS problem have …

A wide range of system models in modern robotics and avionics applications admit natural
symmetries. Such systems are termed equivariant and the structure provided by the …

This paper presents the equivariant systems theory and observer design for second order
kinematic systems on matrix Lie groups. The state of a second order kinematic system on a …

This article develops an equivariant symmetry for second-order kinematic systems on matrix
Lie groups and uses this symmetry for observer design. The state of a second-order …

This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a
fundamental building block that can be leveraged in different optimization-based Inertial …

In this work, we explore the recent advances in equivariant filtering for inertial navigation
systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of …

Algorithms that estimate the navigation states and local environment of a robotic vehicle are
core enabling technologies for autonomous systems. The first work that exploited symmetry …