Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods
This tutorial provides a coherent system-theoretic perspective for researchers and practitioners working with modern aided inertial navigation methods.
This tutorial introduces aided inertial navigation systems using a Lie-group formulation based on the extended Special Euclidean group SE_2(3). It aims to provide a clear, implementation-oriented geometric framework for fusing inertial measurements with aiding information, explicitly highlighting invariance and symmetry.
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and implementation-oriented geometric framework for fusing inertial measurements with aiding information, while making the role of invariance and symmetry explicit. Recent extensions, including higher-order state representations, synchronous observer designs, and equivariant filtering methods, are discussed as natural continuations of the same underlying principles. The goal is to provide readers with a coherent system-theoretic perspective that supports both understanding and practical use of modern aided inertial navigation methods.