{"id":"https://openalex.org/W4285102326","doi":"https://doi.org/10.1109/icra46639.2022.9811778","title":"Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases","display_name":"Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102326","doi":"https://doi.org/10.1109/icra46639.2022.9811778"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811778","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088855536","display_name":"Alessandro Fornasier","orcid":"https://orcid.org/0000-0002-1774-3236"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Alessandro Fornasier","raw_affiliation_strings":["Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt,Austria","Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt,Austria","institution_ids":["https://openalex.org/I4210166741"]},{"raw_affiliation_string":"Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068563952","display_name":"Yonhon Ng","orcid":"https://orcid.org/0000-0002-7764-298X"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yonhon Ng","raw_affiliation_strings":["Australian National University,Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab,Australia","Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab, Australian National University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University,Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab,Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab, Australian National University, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097720","display_name":"Robert Mahony","orcid":"https://orcid.org/0000-0002-7803-2868"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Mahony","raw_affiliation_strings":["Australian National University,Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab,Australia","Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab, Australian National University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian National University,Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab,Australia","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"Yonhon Ng and Robert Mahony are with the System Theory and Robotics Lab, Australian National University, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045197736","display_name":"Stephan Weiss","orcid":"https://orcid.org/0000-0002-3486-7206"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt,Austria","Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt,Austria","institution_ids":["https://openalex.org/I4210166741"]},{"raw_affiliation_string":"Alessandro Fornasier and Stephan Weiss are with the Control of Networked Systems Group, University of Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5413,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.98142809,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4333","last_page":"4339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7081453204154968},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.6847350597381592},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5634105801582336},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5535229444503784},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5331821441650391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4941454231739044},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.47890105843544006},{"id":"https://openalex.org/keywords/equivariant-map","display_name":"Equivariant map","score":0.47137606143951416},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46024981141090393},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.43231990933418274},{"id":"https://openalex.org/keywords/alpha-beta-filter","display_name":"Alpha beta filter","score":0.42722728848457336},{"id":"https://openalex.org/keywords/filter-design","display_name":"Filter design","score":0.42411544919013977},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4101225733757019},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3634220361709595},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3510874807834625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3351702094078064},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.1280348002910614},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12239214777946472}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7081453204154968},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.6847350597381592},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5634105801582336},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5535229444503784},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5331821441650391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4941454231739044},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.47890105843544006},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.47137606143951416},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46024981141090393},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.43231990933418274},{"id":"https://openalex.org/C11588082","wikidata":"https://www.wikidata.org/wiki/Q4735154","display_name":"Alpha beta filter","level":5,"score":0.42722728848457336},{"id":"https://openalex.org/C22597639","wikidata":"https://www.wikidata.org/wiki/Q5449227","display_name":"Filter design","level":3,"score":0.42411544919013977},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4101225733757019},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3634220361709595},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3510874807834625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3351702094078064},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.1280348002910614},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12239214777946472},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811778","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G6545190296","display_name":"Exploiting the Symmetry of Spatial Awareness for 21st Century Automation","funder_award_id":"DP210102607","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1639331959","https://openalex.org/W1804494423","https://openalex.org/W1943808550","https://openalex.org/W2051536971","https://openalex.org/W2082821917","https://openalex.org/W2143083305","https://openalex.org/W2154152083","https://openalex.org/W2279625569","https://openalex.org/W2799927624","https://openalex.org/W2948033858","https://openalex.org/W3000625188","https://openalex.org/W3010897173","https://openalex.org/W3011605433","https://openalex.org/W3034834215","https://openalex.org/W3103410326","https://openalex.org/W3120897329","https://openalex.org/W3154156574","https://openalex.org/W3175170326","https://openalex.org/W3193701173","https://openalex.org/W3194145151","https://openalex.org/W3201000232","https://openalex.org/W3205943828","https://openalex.org/W3208252669","https://openalex.org/W4205181589","https://openalex.org/W4285102326","https://openalex.org/W6663666774","https://openalex.org/W6775285840","https://openalex.org/W6778985294","https://openalex.org/W6781424130"],"related_works":["https://openalex.org/W4206024512","https://openalex.org/W2483158495","https://openalex.org/W2145874287","https://openalex.org/W4310470578","https://openalex.org/W3006432443","https://openalex.org/W2362060159","https://openalex.org/W2350198701","https://openalex.org/W2048312361","https://openalex.org/W2531695493","https://openalex.org/W4281663640"],"abstract_inverted_index":{"Inertial":[0],"Navigation":[1],"Systems":[2],"(INS)":[3],"are":[4],"a":[5,62,87,126,134,150,175],"key":[6],"technology":[7],"for":[8,19,65,73,90,129],"autonomous":[9],"vehicles":[10],"applications.":[11],"Recent":[12],"advances":[13],"in":[14,133],"estimation":[15,67],"and":[16,26,76,98,167,170,182],"filter":[17,160],"design":[18],"the":[20,32,41,47,55,91,103,109,117,155,188],"INS":[21,44,53],"problem":[22],"have":[23],"exploited":[24],"geometry":[25],"symmetry":[27,153],"to":[28,107,124,149,174],"overcome":[29],"limitations":[30],"of":[31,43,140,178],"classical":[33,70,104],"Extended":[34,57,82],"Kalman":[35,58,83],"Filter":[36,59,84,121],"(EKF)":[37],"approach":[38],"that":[39],"formed":[40],"mainstay":[42],"systems":[45],"since":[46],"mid-twentieth":[48],"century.":[49],"The":[50,79,138,158],"industry":[51,189],"standard":[52,190],"filter,":[54],"Multiplicative":[56,191],"(MEKF),":[60],"uses":[61,102],"geometric":[63,88,136],"construction":[64,72,106],"attitude":[66],"coupled":[68],"with":[69,144,164,187],"Euclidean":[71,105],"position,":[74],"velocity":[75,142],"bias":[77,110,147],"estimation.":[78],"recent":[80],"Invariant":[81],"(IEKF)":[85],"provides":[86],"framework":[89,123],"full":[92,151],"navigation":[93,132],"states,":[94],"integrating":[95],"attitude,":[96],"position":[97],"velocity,":[99],"but":[100],"still":[101],"model":[108],"states.":[111],"In":[112],"this":[113],"paper,":[114],"we":[115],"use":[116],"recently":[118],"proposed":[119],"Equivariant":[120],"(EqF)":[122],"derive":[125],"novel":[127],"observer":[128],"biased":[130],"inertial-based":[131],"fully":[135],"framework.":[137],"introduction":[139],"virtual":[141,146],"inputs":[143],"associated":[145],"leads":[148],"equivariant":[152],"on":[154],"augmented":[156],"system.":[157],"resulting":[159],"performance":[161],"is":[162],"evaluated":[163],"both":[165],"simulated":[166],"real-world":[168],"data,":[169],"demonstrates":[171],"increased":[172],"robustness":[173],"wide":[176],"range":[177],"erroneous":[179],"initial":[180],"conditions,":[181],"improved":[183],"accuracy":[184],"when":[185],"compared":[186],"EKF":[192],"(MEKF)":[193],"approach.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}