SOURCE-LINKED INTELLIGENCE

A Sliding Window Filter on the Galilean Group for Consistent Aided Inertial Navigation with Unknown Measurement Delays

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

We study aided inertial navigation when the aiding sensor measurements are subject to an unknown constant delay. The goal is to estimate the delay and navigation state jointly so that delayed measurements correct the trajectory at the appropriate times, yielding a more accurate navigation solution. We formulate the problem on the special Galilean group, which provides a natural state-space structure for aided navigation with uncertainty in both motion and timing. We then examine the observability of joint delay and state estimation and show that, for a single delayed measurement, the model adm

Read original source ↗ Open in workspace

recordType

paper

region

Global