Inertial Navigation

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Overview

Inertial navigation uses accelerometers and gyroscopes to estimate motion, but small sensor errors accumulate into growing position and heading drift. Researchers limit that drift by fusing inertial measurements with GNSS, cameras, LiDAR, radar, Doppler velocity logs, barometers, or motion constraints, using extended Kalman filters, invariant Lie-group methods, and factor graphs. Learning-based methods estimate motion, sensor corrections, or uncertainty, sometimes using physical constraints or self-supervision to work with limited labels and changing devices. A central challenge is keeping estimates accurate and consistent when external aids are delayed, unavailable, noisy, or geometrically uninformative, while meeting real-time and resource limits.

Latest papers

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60 papers3 papers in the last four weeks, down 25% on the four weeks before. 0.0% of all new papers.

  1. A Black-Box Positioning Solution for Effortless Integration in Wearable Navigation

    Oct 15, 2026Anh-Van Vu, Changmin Sung, Dongsoo HanInertial NavigationWearable Sensing

  2. CoWear: Towards Collaborative Wearable Inertial Localization with Multiple Smart Devices

    Oct 14, 2026Zhuoyuan She, Zhanpeng Zhang, Yapeng Chen +3Cooperative LocalizationInertial Navigation

    School of Electronic and Information Engineering, Beihang University, Beijing, China. · School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. · School of Space and Earth Sciences, Beihang University, Beijing, China. +1

  3. A QCQP-Representable IMU Pre-Integration Factor for Certifiable State Estimation

    Sep 29, 2026Utkarsh Rai, Zhexin Xu, Bang-Shien Chen +1Constrained OptimizationRobot State Estimation

    Robust Autonomy Lab, Institute for Experiential Robotics, Northeastern University, 360 Huntington Ave, Boston, MA 02115, USA

  4. Accuracy Evaluation of INS/ZUPT Filtering Methods Based on Different Geometric Error Definitions

    Sep 25, 2026Wei Ouyang, Jiale Han, Yarong Luo +1Equivariant FilteringInvariant EKF

    School of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China · School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China · School of Robotics, Wuhan University, Wuhan 430072, China

  5. GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry

    Sep 21, 2026Chankyo Kim, Minghan Zhu, Tzu-Yuan Lin +2Inertial OdometryEquivariant Neural Networks

    University of Michigan Ann Arbor, MI, United States

  6. Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems

    Sep 17, 2026Arihant Lunawat, Pieter van Goor, Frank Dellaert +1Equivariant FilteringUnderwater Robotics

    The University of Sydney Sydney, Australia · Georgia Tech Atlanta, USA

  7. PLATO: Preintegration Learning from Accurate Trajectory Observations for Neural Inertial Odometry

    Sep 6, 2026Haoying Li, Qihang Liu, Yifan Peng +2Inertial OdometryRobot State Estimation

  8. VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry

    Aug 30, 2026Maulana Bisyir Azhari, Seungwook Lee, Donghun Han +2Aerial RoboticsInertial Odometry

    Unmanned Systems Research Group (USRG), School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea

  9. A Sliding Window Filter on the Galilean Group for Consistent Aided Inertial Navigation with Unknown Measurement Delays

    Aug 30, 2026Jonathan KellyInertial Navigation

    Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada.

  10. WRAP: Wasserstein-Robust Adaptive Plug-in for Robot Localization

    Aug 10, 2026Minhyuk Jang, Astghik Hakobyan, Jungjin Lee +2Kalman FilteringRobot Localization

    Department of Mechanical Science and Engineering, Grainger College of Engineering, University of Illinois Urbana-Champaign, Urbana, IL, USA · Center for Scientific Innovation and Education and the National Polytechnic University of Armenia, Yerevan, Armenia · Department of Electrical and Computer Engineering and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea

  11. Motion-Acceleration Calibration and Compensation in IMUs without External Equipment for Attitude Estimation Filters

    Jul 28, 2026Fabian Arzberger, Andreas NüchterRobot State EstimationInertial Navigation

    arXiv:2607.25784v1

  12. Attribution and Uncertainty Behavior of Learned Residual Gyro Correction for Gyro-Stellar Estimation

    Jul 27, 2026Mariela De Lucas Álvarez, Melvin Laux, Arthur de Freitas Precht +4Spacecraft Attitude DeterminationResidual Learning

    Robotics Innovation Center, German Research Center for AI (DFKI GmbH), Bremen, Germany · Airbus Defence and Space GmbH, Immenstaad, Germany

  13. DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency

    Jul 22, 2026Hao Qiao, Yan Wang, Jian Kuang +1Inertial OdometrySelf-Supervised Learning

    School of Geodesy and Geomatics, Wuhan University · GNSS Research Center, Wuhan University · Hubei Luojia Laboratory

  14. Physical Self-Supervised Learning: IMU Sensing without Manual Labels

    Jul 20, 2026Yuyang Leng, Renyuan Liu, Shaohan Hu +4Self-Supervised LearningPhysics-Informed ML

    Richard · George Mason University Fairfax, VA, USA · Global Technology Applied Research, JPMorgan Chase New York, NY, USA

  15. Attitude Estimation Using Inertial and Barometric Measurements

    Jul 14, 2026Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek HamelRobot State EstimationInertial Navigation

    Department of Computer Science and Engineering, University of Quebec in Outaouais, Gatineau, QC J8X3X7, Canada · Department of Electrical Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada · I3S-UniCA-CNRS, University Cote d’Azur and the Institut Universitaire de France, 06903 Sophia Antipolis, France

  16. Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling

    Jul 12, 2026Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1Kalman FilteringUnderwater Robotics

    University of Illinois Urbana-Champaign, Department of Electrical and Computer Engineering · Dept. of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, 306 N. Wright St., Urbana, IL 61801 USA · University of Illinois Urbana-Champaign, Department of Industrial and Enterprise Systems Engineering +3

  17. Uncertainty-Aware Velocity Correction for Proprioceptive Vehicle Localization using Evidential Mamba

    Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1GNSS-Denied LocalizationRobot State Estimation

    AImotion Bavaria, Technische Hochschule Ingolstadt, Germany · Technische Universität München, Germany

  18. WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments

    Jul 6, 2026Kaixin Feng, Zhichao Wen, Zhaohong Liao +2Robot State EstimationInertial Navigation

    State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan, 430072, China · School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China · College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA

  19. Quaternion-Averaging-Based Adaptive Complementary Filter for Pedestrian Dead Reckoning With a Foot-Mounted AHRS

    Jul 5, 2026Shunsei Yamagishi, Lei JingRobot State EstimationRobot Localization

    Graduate School of Computer Science and Engineering, The University of Aizu, Aizuwakamatsu, Fukushima 965-8580, Japan

  20. Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays

    Jul 4, 2026Jonathan Kelly, Phone Thiha Kyaw, Mattew GiamouParameter IdentifiabilityRobot State Estimation

    Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada. · Autonomous Robotics & Convex Optimization (ARCO) Laboratory in the Department of Computing and Software, McMaster University, Hamilton, Canada.

  21. PedestrianDiffusion: Multimodal Generative Denoising and Dense State Estimation for Inertial Navigation

    Jul 3, 2026I-Hao Lu, Dongsoo HanInertial OdometryRobot Localization

  22. Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation

    Jul 3, 2026Antonia Hager, Torleiv H. BryneKalman FilteringError-State Kalman Filtering

    Airbus Central Research and Technology, Taufkirchen, Germany

  23. Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems

    Jul 3, 2026Antonia Hager, Torleiv H. BryneKalman FilteringError-State Kalman Filtering

    Airbus Central Research and Technology, Taufkirchen, Germany · Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway

  24. Iterated Invariant EKF for 3D Landmark-Aided Inertial Navigation

    Jun 30, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio MeggiolaroInvariant EKFInertial Navigation

    Pontifical Catholic University of Rio de Janeiro, Rio de Janeiro, Brazil · Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genova, Italy

  25. Robust Extended Kalman Filter for Land Navigation Using Massive Array of MEMS IMUs

    Jun 28, 2026Omer Hanani, Alon KipnisGNSS-Denied LocalizationInertial Navigation

    School of Computer Science, Reichman University, Herzliya 46150

  26. On the Identifiability of Aided Inertial Navigation Under Measurement Delays: A Geometric Approach

    Jun 28, 2026Jonathan KellyParameter IdentifiabilityInertial Navigation

  27. Delta-Position Estimation-Based IMU Odometry: A Comparison of MLP and Kolmogorov-Arnold Networks

    Jun 24, 2026Osman Tokluoglu, Emin KeresteciMultilayer PerceptronsInertial Odometry

    Department of Electrical and Electronics Engineering, Ankara Yıldırım Beyazıt University, Ankara, Türkiye · Department of Computer Engineering, TOBB University of Economics and Technology, Ankara, Türkiye

  28. Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems

    Jun 23, 2026Sven Goffin, Cédric Schwartz, Silvère Bonnabel +23D Human Pose EstimationHuman Pose Estimation

    Department of Electrical Engineering and Computer Science, University of Liège, Belgium · Department of Physical Activity and Rehabilitation Sciences, University of Liège, Belgium · Department of Mathematics and Systems, Mines Paris – PSL, France +1

  29. BLENDS: Bayesian Learning-Enhanced Deep Smoothing for GNSS-Denied Environments

    Jun 21, 2026Nadav Cohen, Itzik KleinBayesian InferenceGNSS-Denied Localization

    The Hatter Department of Marine Technologies University of Haifa Haifa, Israel

  30. ForestBack: Breadcrumb-Based Pedestrian Dead Reckoning for Infrastructure-Free Return Navigation

    Jun 12, 2026Aueaphum Aueawatthanaphisut, Chanakan ChaipanGNSS-Denied LocalizationInertial Navigation

    School of Information, Computer, and Communication Technology Sirindhorn International Institute of Technology, Thammasat University Pathum Thani, Thailand · English Program Samsenwittayalai School Bangkok, Thailand