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Observability Analysis of a Matrix Kalman Filter-Based Navigation System Using Visual/Inertial/Magnetic Sensors

A matrix Kalman filter (MKF) has been implemented for an integrated navigation system using visual/inertial/magnetic sensors. The MKF rearranges the original nonlinear process model in a pseudo-linear process model. We employ the observability rank criterion based on Lie derivatives to verify the co...

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Detalles Bibliográficos
Autores principales:	Feng, Guohu, Wu, Wenqi, Wang, Jinling
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	Molecular Diversity Preservation International (MDPI) 2012
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3444081/ https://www.ncbi.nlm.nih.gov/pubmed/23012523 http://dx.doi.org/10.3390/s120708877

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