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About this paper
Jianzhu Huai
The paper shows how IMU propagation and preintegration can provide each other’s quantities for state estimation. With perturbation conventions converted consistently, propagation yields preintegrated increments, bias Jacobians, and covariance; preintegration recovers transition matrices and propagated covariance. Across 100 synthetic 10-second trials at 200 Hz, converted quantities closely agree with GTSAM, establishing consistency only in this setup, not real-world navigation performance.
Summary by alphaXiv.
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