Automatica submission: Equivaraint Symmetries for Inertial Navigation Systems

Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert Mahony, and Stephan Weiss

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Dependencies

• pylie: https://github.com/AlessandroFornasier/pylie
  • Note that the newest version of pylie: https://github.com/pvangoor/pylie is not yet supported

How to reproduce the results of the submission:

Run the filters:

# To run the filters on the simulated data
python3 Simulation/Simulation.py Trajectories/sim <path_where_to_save_the_results> --ct --ctex --ctnew --iekf --tfiekf --mekf --equivariant_output

# To run the filters on the real data
python3 Simulation/Simulation.py Trajectories/insane <path_where_to_save_the_results> --ct --ctex --ctnew --iekf --tfiekf --mekf --equivariant_output --insane

Plot the results of a single run:

Run matlab's script Evaluation/scripts/plotFilters.m to plot the results

Plot the results of multiple runs:

Run matlab's script Evaluation/scripts/averageRmse.m to plot the results

Note that these scripts have not been cleaned up and are considered "research code"