arxivcs.ROeess.SY2026-07-04
Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays
Jonathan Kelly, Phone Thiha Kyaw, Mattew Giamou
In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Accurate state estimation requires that delays be accounted for and, when possible, calibrated online. We consider the case of aided navigation, where measurements from a…