MKok 2017 Using inertial sensors for position and orientation estimation

Source: http://arxiv.org/abs/1704.06053 Authors: M Kok, JD Hol, TB Schön

Abstract

Contents/Chapters Quaternions Probabilistic models for IMU      Orientation parametrisations          Which orientation parametrisation to choose?      Linearisation of an orientation in SO(3)      IMU measurement model          Modelling noise and bias for IMU     IMU motion models     IMU prior models