Reference

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Bibliography

Every equation, figure, and external reference used across the estimators, navigators, WMM, and calibration documentation pages is listed here, with a link to the original source where one is available online. Each page links back here; conversely, most entries below link forward to the pages that use them.

Books

[book-groves] P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, 2nd ed., Artech House, 2013, ISBN 978-1-60807-005-3. Publisher page. This is the primary reference for estimators, navigators, and most of calibration. Figures redrawn in this documentation (as original SVG illustrations, not reproductions) are credited individually on the pages that use them.

Companion software

[matlab-companion] Companion MATLAB scripts for [book-groves], github.com/ymjdz/MATLAB-Codes. Individual estimator classes link to the specific script they port (e.g. Gravity_NED.m, Kinematics_ECEF.m, Radii_of_curvature.m). Used by estimators and navigators.

Earth magnetic field (WMM)

[wmm-site] NOAA/NCEI, NGA, and the British Geological Survey (BGS), World Magnetic Model (WMM). Primary links: www.ngdc.noaa.gov/geomag/WMM (main page), www.ncei.noaa.gov/products/world-magnetic-model (current release), coefficient downloads, .cof file format, and the WMM technical report describing the spherical-harmonic equations. This library bundles the WMM-2025 coefficient set (valid 2025.0-2030.0). Used throughout the WMM package.

[igrf-site] NOAA/NCEI, International Geomagnetic Reference Field (IGRF), www.ngdc.noaa.gov/IAGA/vmod/igrf.html. An alternative geomagnetic model referenced (but not implemented) by EarthMagneticFluxDensityEstimator's Javadoc.

IMU calibration

[imu-tk] D. Tedaldi, A. Pretto, E. Menegatti, "A Robust and Easy to Implement Method for IMU Calibration without External Equipments," IEEE International Conference on Robotics and Automation (ICRA), 2014. PDF. Reference implementation: github.com/Kyle-ak/imu_tk. This is the basis for EasyGyroscopeCalibrator/KnownBiasEasyGyroscopeCalibrator and the static/dynamic interval philosophy used throughout Static/Dynamic Interval Detection and Measurement Generation and the accelerometer’s gravity-norm family (Accelerometer Calibration).

[suh2010] Y. S. Suh, "Orientation estimation using a quaternion-based indirect Kalman filter with adaptive estimation of external acceleration," IEEE Transactions on Instrumentation and Measurement, 2010. IEEE Xplore. Used by SuhQuaternionStepIntegrator.

[trawny2005] N. Trawny, S. I. Roumeliotis, "Indirect Kalman Filter for 3D Attitude Estimation," University of Minnesota, Dept. of Computer Science & Engineering, Technical Report 2005-002, 2005. PDF. Used by TrawnyQuaternionStepIntegrator.

[yuan2015] S. Yuan, "Quaternion-based Unscented Kalman Filter for Real-time Attitude Estimation," 2015. (No official source could be located for this citation.) Used by YuanQuaternionStepIntegrator.