Changwu Liu

Yes, you're right. The RTK ground truth in our fixed-wing datasets is directly acquired from the ublox receiver online, and of course carrier phase measurements are utilized. If the goal...

In the context of EKF, `invariant' refers to the so-called invariant extended Kalman filter (InEKF). InEKF originates from a series of so-call symmetry-preserving observers, which means the observer mimics the...

Hi, thanks for your comments. Proposition 2 addresses the pseudo range and pseudo range rate measurements simultaneously. Verifications of the infinitesimal symmetries of the IMU process model and the visual...

Hi, I use 'rotation matrix (from the body to the world)' instead of 'quaternions' to represent pose (and thus there's nothing to do with 'Hamilton' or 'JPL' issues), since in...