Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem.

Silvère Bonnabel Philippe Martin 0001 Erwan Salaün Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem. 1297-1304 2009 CDC https://doi.org/10.1109/CDC.2009.5400372 conf/cdc/2009 db/conf/cdc/cdc2009.html#BonnabelMS09