Invariant Extended Kalman Filter design for a magnetometer-plus-GPS aided inertial navigation system
Why this work is in the frame
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Bibliographic record
Abstract
We introduce a magnetometer-plus-GPS aided inertial navigation system for a helicopter UAV. A nonlinear observer is required to estimate the navigation states, typically an Extended Kalman Filter (EKF). A novel approach is the invariant observer, a constructive design method applicable to systems possessing symmetries. We review the theory and design an invariant observer for our example. Using an invariant observer guarantees a simplified form of the nonlinear estimation error dynamics. These are stabilized using an adaptation of the Invariant EKF, a systematic approach to compute the gains of an invariant observer. The resulting design is successfully implemented and validated in experiment and shows an improvement in performance over a conventional EKF.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it