50.5.1 IMU nominal-state and error-state kinematics

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Parents: [IMU index](imu index.md), 50.3 error-state-kalman-filter

Note on discretisation Solà 2017 :

  • Convert the differential equations to difference equations (use integration)
  • Integration methods may vary
    • Closed form solutions
    • Numerical integration
  • Integration is done for:
    • The nominal state
    • The error state (deterministic part): error state dynamics and control
    • The error state (stochastic part): noise and perturbations
Nominal stateError state
Model without noise and perturbations
Continuousunknown_filename.pngunknown_filename.1.png
Discreteunknown_filename.2.pngunknown_filename.3.pngsummary:unknown_filename.4.pngwith the jacobians defined in  imu eskf-prediction-equations