This article is an exhaustive revision of concepts and formulas related to quaternions and
rotations in 3D space, and their proper use in estimation engines such as the error-state …

… the Kalman gain based on the linearized equations is the philosophy of an EKF. In contrast,
error state Kalman filter … by recasting the problem from state domain to error-state domain. …

… the linear Kalman filter and the Extended Kalman filter (EKF) forms of the full state Kalman
filter. In this work we choose to use the error-state form of both the linear Kalman filter and EKF…

… The objective of this work is to present a novel error-state Kalman filter that yields highly
accurate estimates of IMU orientation that are robust to poor measurement updates from …

… -estimation problem with a constraint on the H~ norm of the state-estimation error. Specifically,
the transfer function between disturbances and error states is constrained to have H~ …

… filter have been made by embedding each correction factor within an error-state Kalman filter
… The revised filter only estimates the error in two variables, thus remaining computationally …

… error and compensate for the gyroscope biases, we fuse the inertial and visual measurements
fused together through the error-state Kalman filter … noise covariances and error-state. The …

The present thesis explores the use of non-linear state errors to devise extended Kalman
filters (EKFs). First we depart from the theory of invariant observers on Lie groups and propose …

… (a) Streamfunction of the true state at t = 15. (b) Streamfunction of the … state obtained using
a full Kalman filter. (c) Streamfunction of the analyzed state obtained using a Kalman filter …

… ABSTRACT This paper presents a novel robust quaternion-based error state Kalman filter
(ESKF) for coping with modeling uncertainty in inertial measurement unit (IMU)-based attitude …