Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods

Abstract:This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and implementation-oriented geometric framework for fusing inertial measurements with aiding information, while making the role of invariance and symmetry explicit. Recent extensions, including higher-order state representations, synchronous observer designs, and equivariant filtering methods, are discussed as natural continuations of the same underlying principles. The goal is to provide readers with a coherent system-theoretic perspective that supports both understanding and practical use of modern aided inertial navigation methods.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2603.07143 [cs.RO]

(or arXiv:2603.07143v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2603.07143 Focus to learn more arXiv-issued DOI via DataCite

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