50.3 IMU motion model in a Kalman filter

Parent: IMU index
Source: Solà 2017 Quaternion kinematics for ESKF

Which states do we use for the motion model?
Choice of states for the IMU motion/kinematics model

How do we model the IMU motion?
Choice of model for the IMU motion model

The kinematics (true state) can be partitioned into a nominal part and an error part, s. variables in ESKF . The corresponding [nominal state dynamics and error state dynamics](nominal state-dynamics-and-error-state-dynamics.md) are given.

See also: IMU measurement model