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

arXiv:2607.03338v1 Announce Type: new Abstract: 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 before subsequent predictions. Conversely, in safety-critical aeronautical applications, open-loop (or feedforward) systems are an undisputed standard, where the inertial ...