| Abstract: | An attitude and heading reference system (AHRS) is a nonlinear state estimator unit for computing orientation in 3D space.
This paper designs an AHRS using three approaches: an invariant observer, an invariant extended Kalman filter (IEKF), and a
conventional extended Kalman filter (EKF). The three designs are validated in experiment versus a ground truth, demonstrating
the practical interest of the invariant observer methodology and the advantage of the IEKF over the EKF under model uncertainty. |
