Navigation and Kalman Filtering

Kalman Filtering

• Book: Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems
• Book: Advanced Kalman Filtering, Least-Squares and Modeling: A Practical Handbook
• Book: Stochastic Models, Estimation and Control: Volume 1

Inertial Sensors

• IMU Error State Modeling for State Estimation and Sensor Calibration: A Tutorial

Rotation Formalisms

• Quaternion kinematics for error-state Kalman filter
• Attitude Error Representations for Kalman Filtering
• On the rotation vector differential equation

Visual navigation

• Keyframe-Base Visual-Inertial Odometry Using Nonlinear Optimization
• High-Precision, Consistent EKF-based Visual-Inertial Odometry

Lie Theory in Estimation

• A micro Lie theory for state estimation in robotics

More general Math

Lie Theory

• Book: Naive Lie Theory