Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods
Fuente:
arXiv
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866915842286944256 |
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| author | Berkane, Soulaimane |
| author_facet | Berkane, Soulaimane |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_07143 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods Berkane, Soulaimane Robotics Systems and Control 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. |
| title | Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2603.07143 |