(Invariant) Extended Kalman Filter for IMU-driven Gal3 We use an invariant Kalman Filter on the Gal3 Lie group to propagate from one state to another. More...

Classes
class	gtsam::Gal3ImuEKF
	Specialized EKF for IMU-driven on Gal3. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

(Invariant) Extended Kalman Filter for IMU-driven Gal3 We use an invariant Kalman Filter on the Gal3 Lie group to propagate from one state to another.

X_(k+1) = W*X*U where X(k) ∈ Gal3 follows format of [R, v, p; 0, 1, dt; 0, 0, 1]

W is the gravity matrix that transforms body to world frame where W ∈ Gal3= [I_3, g * dt, -0.5*g*dt^2 0, 1, -dt 0, 0, 1]

U ∈ Gal3 is the control matrix where U = [dR, f_b*dt, f_b*0.5*dt^2 0, 1, dt 0, 0, 1]

Date: September 2025

Authors: Scott Baker

Classes

Namespaces

Detailed Description