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In addition to the vehicle's states and landmark positions, the self-tuning filter estimates the IMU calibration parameters as well as the covariance of the measurement noise. The discrete-time covariance matrix of the process noise, the state transition matrix and the observation sensitivity matrix are derived in closed form, making it suitable for real-time implementation. Examination of the observability of the 3D SLAM system leads to the the conclusion that the system remains observable, provided that at least three known landmarks, which are not placed in a straight line, are observed.<\/jats:p>","DOI":"10.1017\/s0263574710000809","type":"journal-article","created":{"date-parts":[[2010,12,9]],"date-time":"2010-12-09T07:54:34Z","timestamp":1291881274000},"page":"805-814","source":"Crossref","is-referenced-by-count":5,"title":["3D simultaneous localization and mapping using IMU and its observability analysis"],"prefix":"10.1017","volume":"29","author":[{"given":"Farhad","family":"Aghili","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2010,12,9]]},"reference":[{"key":"S0263574710000809_ref38","doi-asserted-by":"publisher","DOI":"10.2514\/2.4834"},{"key":"S0263574710000809_ref4","first-page":"858","volume-title":"Proceedings of the International Conference on Control and Automation","author":"Choi","year":"2005"},{"key":"S0263574710000809_ref42","first-page":"113","volume-title":"Kalman Filtering with Real-Time Applications","author":"Chui","year":"1998"},{"key":"S0263574710000809_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.006"},{"key":"S0263574710000809_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/7.165367"},{"key":"S0263574710000809_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.291995"},{"key":"S0263574710000809_ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9306-6"},{"key":"S0263574710000809_ref23","first-page":"100","volume-title":"Proceedings of the 16th Annual Conference of IEEE (IECON'90)","author":"Chen","year":"1990"},{"key":"S0263574710000809_ref31","volume-title":"Proceedings of the IEEE International Workshop of Safety, Security and Rescue Robotics","author":"Nuechter","year":"2006"},{"key":"S0263574710000809_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/9.989154"},{"key":"S0263574710000809_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10817-4_25"},{"key":"S0263574710000809_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2008.4517003"},{"key":"S0263574710000809_ref19","first-page":"3569","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Amd","year":"2006"},{"key":"S0263574710000809_ref7","first-page":"3519","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Mallet","year":"2000"},{"key":"S0263574710000809_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.808464"},{"key":"S0263574710000809_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906075170"},{"key":"S0263574710000809_ref25","first-page":"1556","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Huang","year":"2006"},{"key":"S0263574710000809_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/56.768"},{"key":"S0263574710000809_ref20","first-page":"1","volume-title":"Proceedings of the ICM 2009: IEEE International Conference on Mechatronics, 2009","author":"Perera","year":"2009"},{"key":"S0263574710000809_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1991.174711"},{"key":"S0263574710000809_ref37","doi-asserted-by":"publisher","DOI":"10.2514\/3.56190"},{"key":"S0263574710000809_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.388775"},{"key":"S0263574710000809_ref30","first-page":"1556","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Cole","year":"2006"},{"key":"S0263574710000809_ref5","doi-asserted-by":"crossref","unstructured":"5. 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