{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T14:54:54Z","timestamp":1775228094273,"version":"3.50.1"},"reference-count":33,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T00:00:00Z","timestamp":1701734400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T00:00:00Z","timestamp":1701734400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000183","name":"Army Research Office","doi-asserted-by":"publisher","award":["W911NF-21-2-0245"],"award-info":[{"award-number":["W911NF-21-2-0245"]}],"id":[{"id":"10.13039\/100000183","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,12,5]]},"DOI":"10.1109\/icar58858.2023.10406552","type":"proceedings-article","created":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T18:27:00Z","timestamp":1706812020000},"page":"134-141","source":"Crossref","is-referenced-by-count":2,"title":["Revisiting Multi-GNSS Navigation for UAVs \u2013 An Equivariant Filtering Approach"],"prefix":"10.1109","author":[{"given":"Martin","family":"Scheiber","sequence":"first","affiliation":[{"name":"Institute of Smart Systems Technologies, Control of Networked Systems Group, University of Klagenfurt,Klagenfurt,Austria,9020"}]},{"given":"Alessandro","family":"Fornasier","sequence":"additional","affiliation":[{"name":"Institute of Smart Systems Technologies, Control of Networked Systems Group, University of Klagenfurt,Klagenfurt,Austria,9020"}]},{"given":"Christian","family":"Brommer","sequence":"additional","affiliation":[{"name":"Institute of Smart Systems Technologies, Control of Networked Systems Group, University of Klagenfurt,Klagenfurt,Austria,9020"}]},{"given":"Stephan","family":"Weiss","sequence":"additional","affiliation":[{"name":"Institute of Smart Systems Technologies, Control of Networked Systems Group, University of Klagenfurt,Klagenfurt,Austria,9020"}]}],"member":"263","reference":[{"key":"ref1","volume-title":"Non-linear state error based extended Kalman filters with applications to navigation","author":"Barrau","year":"2015"},{"key":"ref2","author":"Mahony","year":"2020","journal-title":"Equivariant Systems Theory and Observer Design"},{"key":"ref3","first-page":"5401","article-title":"Equivariant filter (EqF): A General Filter Design for Systems on Homogeneous Spaces","volume-title":"2020 59th IEEE Conference on Decision and Control (CDC)","author":"van Goor"},{"issue":"6","key":"ref4","doi-asserted-by":"crossref","first-page":"3501","DOI":"10.1109\/TAC.2022.3194094","article-title":"Equivariant Filter (EqF)","volume":"68","author":"van Goor","year":"2023","journal-title":"IEEE Transactions on Automatic Control"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-061520-010324"},{"key":"ref6","first-page":"4194","article-title":"Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups","volume-title":"2020 59th IEEE Conference on Decision and Control (CDC)","author":"Ng"},{"key":"ref7","first-page":"4333","article-title":"Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases","volume-title":"2022 International Conference on Robotics and Automation (ICRA)","author":"Fornasier"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105010"},{"key":"ref9","first-page":"1578","article-title":"An invariant-EKF VINS algorithm for improving consistency","volume-title":"2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Wu"},{"key":"ref10","first-page":"13754","article-title":"VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms","volume-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)","author":"Fornasier"},{"issue":"4","key":"ref11","doi-asserted-by":"crossref","first-page":"1797","DOI":"10.1109\/TAC.2016.2594085","article-title":"The Invariant Extended Kalman Filter as a Stable Observer","volume":"62","author":"Barrau","year":"2017","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"4","key":"ref12","doi-asserted-by":"crossref","first-page":"12118","DOI":"10.1109\/LRA.2022.3210867","article-title":"Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration","volume":"7","author":"Fornasier","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-51953-7_22"},{"issue":"3","key":"ref14","doi-asserted-by":"crossref","DOI":"10.1515\/jag-2015-0002","article-title":"The Impact of Vehicle Maneuvers on the Attitude Estimation of GNSS \/ INS for Mobile Mapping","volume":"9","author":"Li","year":"2015","journal-title":"Journal of Applied Geodesy"},{"key":"ref15","doi-asserted-by":"crossref","first-page":"13","DOI":"10.5194\/isprsarchives-XXXVIII-1-C22-13-2011","article-title":"THE PIXHAWK OPEN-SOURCE COMPUTER VISION FRAMEWORK FOR MAVS","volume":"XXXVIII-1\/C22","author":"Meier","year":"2012","journal-title":"The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences"},{"key":"ref16","first-page":"4531","article-title":"Real-time metric state estimation for modular vision-inertial systems","volume-title":"2011 IEEE International Conference on Robotics and Automation","author":"Weiss"},{"key":"ref17","volume-title":"ArduPilot"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-08338-4_25"},{"key":"ref19","volume-title":"PX4"},{"key":"ref20","first-page":"4029","article-title":"Sensor fusion for navigation of an autonomous unmanned aerial vehicle","volume-title":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA 04. 2004","volume":"4","author":"Sasiadek"},{"key":"ref21","first-page":"31","article-title":"Versatile distributed pose estimation and sensor self-calibration for an autonomous MAV","volume-title":"2012 IEEE International Conference on Robotics and Automation","author":"Weiss"},{"key":"ref22","first-page":"3923","article-title":"A robust and modular multi-sensor fusion approach applied to MAV navigation","volume-title":"2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Lynen"},{"issue":"2","key":"ref23","doi-asserted-by":"crossref","first-page":"359","DOI":"10.1109\/LRA.2020.3043195","article-title":"MaRS: A Modular and Robust Sensor-Fusion Framework","volume":"6","author":"Brommer","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.2514\/3.56190"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.2514\/2.5048"},{"key":"ref26","first-page":"5582","article-title":"Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation","volume-title":"2021 IEEE International Conference on Robotics and Automation (ICRA)","author":"Pavlasek"},{"issue":"18","key":"ref27","doi-asserted-by":"crossref","first-page":"618","DOI":"10.1016\/j.ifacol.2016.10.234","article-title":"Navigating with highly precise odometry and noisy GPS: a case study**This work is supported by the company Safran","volume":"49","author":"Barrau","year":"2016","journal-title":"IFAC-PapersOnLine"},{"issue":"3","key":"ref28","doi-asserted-by":"crossref","first-page":"1850","DOI":"10.1109\/LRA.2023.3243520","article-title":"InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry","volume":"8","author":"Liu","year":"2023","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref29","author":"Fornasier","year":"2023","journal-title":"Equivariant Symmetries for Inertial Navigation Systems"},{"key":"ref30","author":"Brommer","year":"2022","journal-title":"INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators"},{"key":"ref31","author":"Sol","year":"2021","journal-title":"A micro Lie theory for state estimation in robotics"},{"key":"ref32","first-page":"2536","article-title":"Attitude Observation for Second Order Attitude Kinematics","volume-title":"2019 IEEE 58th Conference on Decision and Control (CDC)","author":"Ng"},{"issue":"2","key":"ref33","doi-asserted-by":"crossref","first-page":"2317","DOI":"10.1016\/j.ifacol.2020.12.022","article-title":"Pose Observation for Second Order Pose Kinematics","volume":"53","author":"Ng","year":"2020","journal-title":"IFAC-PapersOnLine"}],"event":{"name":"2023 21st International Conference on Advanced Robotics (ICAR)","location":"Abu Dhabi, United Arab Emirates","start":{"date-parts":[[2023,12,5]]},"end":{"date-parts":[[2023,12,8]]}},"container-title":["2023 21st International Conference on Advanced Robotics (ICAR)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10406297\/10406219\/10406552.pdf?arnumber=10406552","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,2]],"date-time":"2024-02-02T18:26:52Z","timestamp":1706898412000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10406552\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,5]]},"references-count":33,"URL":"https:\/\/doi.org\/10.1109\/icar58858.2023.10406552","relation":{},"subject":[],"published":{"date-parts":[[2023,12,5]]}}}