Robust Attitude Estimation from Uncertain Observations of Inertial Sensors Using Covariance Inflated Multiplicative Extended Kalman Filter

This paper presents an attitude estimation method from uncertain observations of inertial sensors, which is highly robust against different uncertainties. The proposed method of covariance inflated multiplicative extended Kalman filter (CI-MEKF) takes the advantage of non-singularity of covariance i...

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