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This paper presents a new approach to inertial navigation systems by defining an alternative vector state-error representation using common coordinates, which enhances the accuracy of error representation. A modified extended Kalman filter (EKF) is derived based on this new error representation, and simulation results demonstrate its improved performance compared to standard inertial navigation filters. The study extends previous work on geometric EKF to include a comprehensive derivation of errors in vario

Author

Lê Anh Tú

Language

EN