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. Recent extensions, including higher-order state representations, synchronous observer designs, and equivariant filtering methods, are discussed as natural continuations of the same underlying principles. The goal is to provide readers with a coherent system-theoretic perspective that supports both understanding and practical use of modern aided inertial navigation methods.
From: Soulaimane Berkane [view email]
[v1]
Sat, 7 Mar 2026 10:27:29 UTC (4,937 KB)
[v2]
Tue, 25 Aug 2026 18:51:40 UTC (4,973 KB)
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