Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods
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来源：arXiv cs.RO发布时间待核实
arXiv:2603.07143v2 Announce Type: replace Abstract: This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and implementation-oriented geometric framework for fusing inertial measurements with aiding information, while making the role of invariance and symmetry explicit.