{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T14:43:10Z","timestamp":1778251390226,"version":"3.51.4"},"reference-count":25,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2019,11,11]],"date-time":"2019-11-11T00:00:00Z","timestamp":1573430400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1833125"],"award-info":[{"award-number":["U1833125"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["Nos. 61871012"],"award-info":[{"award-number":["Nos. 61871012"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"The major project on the second satellite navigation system of China","award":["No. GFZX0305030106"],"award-info":[{"award-number":["No. GFZX0305030106"]}]}],"content-domain":{"domain":["www.mdpi.com"],"crossmark-restriction":true},"short-container-title":["Sensors"],"abstract":"<jats:p>Considering the inertial measurement unit (IMU) faults risk of an unmanned aerial vehicle (UAV), this paper provides an analysis of the error overboundings of position estimation in a tightly coupled IMU\/global navigation satellite system (GNSS) integrated architecture under the IMU fault conditions using an error-state EKF-based approach and provides a comparison to a recently published EKF-based full state method. Simulation results show that both the error overboundings of the error-state and full-state EKFs can fit the state error against the IMU faults, but the error-state EKF is more suitable for UAV navigation system integrity assurance due to its higher calculation efficiency. This study will be extended to the integrity monitoring of multisensor systems.<\/jats:p>","DOI":"10.3390\/s19224912","type":"journal-article","created":{"date-parts":[[2019,11,12]],"date-time":"2019-11-12T04:07:07Z","timestamp":1573531627000},"page":"4912","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Comparative Analysis between Error-State and Full-State Error Estimation for KF-Based IMU\/GNSS Integration against IMU Faults"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3710-2628","authenticated-orcid":false,"given":"Wei","family":"Liu","sequence":"first","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2370-9680","authenticated-orcid":false,"given":"Dan","family":"Song","sequence":"additional","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhipeng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kun","family":"Fang","sequence":"additional","affiliation":[{"name":"School of Electronic and Information Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,11,11]]},"reference":[{"key":"ref_1","unstructured":"D\u2019Angelo, P., and Fernandez, A. 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