IEKF != IESKF?

[gyubeomim]

Hello Gavin Gao,

I just watched your wonderful blog post about IEKF derivation from the Linear Gaussian Model. Then I'm about to start using your imu_x_fusion repo.

post: https://cgabc.xyz/posts/784a80cb/#iekf

I just wanted to know if your posting's update X equation is different from the Fast-LIO, ROVIO's IEKF update X equation.
Fast-LIO(arXiv): eq (18)

ROVIO(IJRR 2017) : eq (51)

Is it because your derivation is about only for the IEKF not for IESKF? or just the missing jacobians are hidden by the equations?

Thanks in advance!

[ysingfun]

I have the same doubts about this question, may I ask whether the problem you raised has been solved？

[gyubeomim]

@ysingfun
Not yet..

[gyubeomim]

@ysingfun
I figured it out myself. I upload the arXiv preprint about this topic (IEKF, IESKF). Please check it if you have still no answer.

Notes on Kalman Filter (KF, EKF, ESKF, IEKF, IESKF)
https://arxiv.org/abs/2406.06427

[ysingfun]

Thanks!