A fast and stable GNSS-LiDAR-inertial state estimator from coarse to fine by iterated error-state Kalman filter-Reference-Cited by-同舟云学术

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A fast and stable GNSS-LiDAR-inertial state estimator from coarse to fine by iterated error-state Kalman filter

Published:2024-05 Issue: Volume:175 Page:104675
ISSN:0921-8890
Container-title:Robotics and Autonomous Systems
language:en
Short-container-title:Robotics and Autonomous Systems

Author:

Gao Jixin,Sha Jianjun^ORCID,Wang Yanheng,Wang Xiangwei,Tan Cong

Publisher

Elsevier BV

Reference38 articles.

1. LOAM: Lidar odometry and mapping in real-time;Zhang,2014

2. Faster-LIO: lightweight tightly coupled Lidar-inertial odometry using parallel sparse incremental voxels;Bai;IEEE Robot. Autom. Lett.,2022

3. Extended Kalman filter vs. error state Kalman filter for aircraft attitude estimation;Madyastha,2011

4. The iterated Kalman filter update as a Gauss-Newton method;Bell;IEEE Trans. Autom. Control,1993

5. Performance evaluation of iterated extended Kalman filter with variable step-length;Havlík;Phys.: Conf. Ser,2015

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