Torleiv H. Bryne

2 papers indexed

arxivcs.ROeess.SY2026-07-03

Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation

Closed-loop (or feedback) error-state Kalman filters with their relatives and offspring are the state-of-the-art in modern aided inertial navigation research. Estimated inertial navigation system (INS) errors are continually fed back to the INS to correct the nominal system state…

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arxivcs.ROeess.SY2026-07-03

Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems

Antonia Hager, Torleiv H. Bryne

Global navigation systems require state estimation algorithms that handle Earth's curvature, Earth's rotation, and gravitational variations. These factors can typically be neglected in local navigation algorithms for robots, drones, etc. In classical error-state Kalman Filtering…

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