Algorithms References

General Kalman Filter References

Corey Montella. Lehigh University. May 2011. “The Kalman Filter and Related Algorithms: A Literature Review” (https://www.researchgate.net/publication/236897001_The_Kalman_Filter_and_Related_Algorithms_A_Literature_Review)

Kalman, R. E. (1960). “A New Approach to Linear Filtering and Prediction Problems”. Transaction of the ASME - Journal of Basic Engineering, 35-45. (https://www.cs.unc.edu/~welch/kalman/media/pdf/Kalman1960.pdf)

Juler, S., & Uhlmann, J. (n.d.). “A New Extension of the Kalman Filter to Nonlinear Systems” (http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.5.2891&rep=rep1&type=pdf)

Gordon, N., Salmond, D., & Smith, A. (1993). “Novel approach to nonlinear/non-Gaussian Bayesian state estimation”. IEEE Proceedings-F, (pp. 107-113). (http://www.irisa.fr/aspi/legland/ref/gordon93a.pdf)

Thrun, S., Burgard, W., & Fox, D. (2005). “Probabilistic Robotics”. Cambridge, MA: MIT Press. (https://docs.ufpr.br/~danielsantos/ProbabilisticRobotics.pdf)

Extended Kalman Filter Implementations

Sabatini, A.M. Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing. IEEE Trans. Biomed. Eng. 2006

Mathematical References

Process Models

JA Farrell, M. Barth. “The global positioning system & inertial navigation”. McGraw-Hill 1998.

A Huster. “Relative position sensing by fusion monocular vision and inertial rate sensors”. 2003.

S Julier, J. K. Uhlmann. “A new extension of the Kalman filter to nonlinear system”. Proceedings of AeroSense: The 11th International Symposium on Aerospace/Defense Sensing Simulation and Controls Multi Sensor Fusion Tracking and Rescource Management II SPIE. 1997.

E Nebot, H. Durrant-Whyte. “Initial calibration and alignment of low-cost inertial navigation units for land vehicle applications”. Journal of Robotic Systems, vol. 16, no. 2. 1999.

M Park. “Error analysis and stochastic modeling of MEMS based inertial sensors for land vehicle navigation applications”. vol 4. 2004.

OS Salychev, V. V. Voronov, M. E. Cannon, G. Lachapelle. “Low cost INS/GPS integration: concepts and testing”. Proceeding of the Institute of Navigation National Technical Meeting. 2000.

S Sukkarieh. “Low cost high integrity aided inertial navigation systems for autonomous land vehicles”. 2000.

R van der Merwe, EA Wan. “Sigma-point Kalman filters for integrated navigation”. Proceedings of the 60th Annual Meeting of the Institute of Navigation (ION). June 2004.

EA Wan, R. van der Merwe. “The unscented Kalman filter for nonlinear estimation”. Symposium 2000 on Adaptive Systems for Signal Processing Communication and Control. vol 10. 2000.

G Welch, G. Bishop. “An introduction to the Kalman filter SIGGRAPH 2001 course 8”. Computer Graphics Annual Conference on Computer Graphics & Interactive Techniques. Aug 2001.

Measurement Models

Jrg F Wagnera, Thomas Wieneke. “Integrating satellite and inertial navigation - conventional and new fusion approaches”. Control Engineering Practice, Volume 11, Issue 5, May 2003. (https://www.sciencedirect.com/science/article/abs/pii/S0967066102000436)

Agus Budiyono. “Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems”. (2012) “Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems”, Industrial Robot: An International Journal, Vol. 39 Iss: 3 (https://www.researchgate.net/profile/Agus_Budiyono/publication/234119885_Principles_of_GNSS_Inertial_and_Multi-sensor_Integrated_Navigation_Systems/links/02e7e51df4ead46a61000000/Principles-of-GNSS-Inertial-and-Multi-sensor-Integrated-Navigation-Systems.pdf)

Innovation (Measurement Error)

Drora Goshen-Meskin; Itzhack Y. Bar-Itzhack. “Unified approach to inertial navigation system error modeling”. Journal of Guidance, Control, and Dynamics, May 1992, Vol. 15, No. 3 (https://arc.aiaa.org/doi/pdf/10.2514/3.20887)

George Arshal. “Error equations of inertial navigation”. July 1987. Journal of Guidance, Control, and Dynamics, July 1987, Vol. 10, No. 4 (https://doi.org/10.2514/3.20225)

Drora Goshen-Meskin And Itzhack Y. Bar-Itzhack. “Unified approach to inertial navigation system error modeling” journal of Guidance, Control, and Dynamics, May 1992, Vol. 15, No. 3 https://doi.org/10.2514/3.20887

Magnetic-Alignment

Sabatini, A.M. Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing. IEEE Trans. Biomed. Eng. 2006

Sebastian O.H. Madgwick. “An efficient orientation filter for inertial and inertial-magnetic sensor arrays”. April 30, 2010. University of Bristol UK (https://forums.parallax.com/uploads/attachments/41167/106661.pdf)

Marins, João Luís; Yun, Xiaoping; Bachmann, Eric R.; McGhee, Robert B.; Zyda, Michael J. “An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors” Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA, Oct. 29 - Nov. 03, 2001 (https://calhoun.nps.edu/bitstream/handle/10945/41567/IROS2001.pdf;sequence=3)

Other References

Other References - Keith Mitiguy Kane - To Be Provided