Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation

arXiv:2607.00145v1 Announce Type: new Abstract: Inertial navigation systems aided by three-dimensional landmark measurements constitute a fundamental problem in robotic perception and state estimation. Classical SO(3)-based Extended Kalman Filter (SO(3)-EKF) approaches provide practical solutions, but suffer from the false observability problem, in which the filter becomes overconfident in unobservable directions, leading to degraded estimation performance. The Invariant EKF (IEKF) addresses thi...