000165512 001__ 165512
000165512 005__ 20260112132214.0
000165512 0247_ $$2doi$$a10.1109/LRA.2025.3641442
000165512 0248_ $$2sideral$$a147254
000165512 037__ $$aART-2026-147254
000165512 041__ $$aeng
000165512 100__ $$aCerezo, Samuel$$uUniversidad de Zaragoza
000165512 245__ $$aGNSS-Inertial State Initialization Using Inter-Epoch Baseline Residuals
000165512 260__ $$c2026
000165512 5203_ $$aInitializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly non-linear. This may lead to poor initial estimates that may converge to local minima during subsequent non-linear optimization. We propose an adaptive GNSS–inertial initialization strategy that delays the incorporation of global GNSS constraints until they become sufficiently informative. In the initial stage, our method leverages inter-epoch baseline vector residuals between consecutive GNSS fixes to mitigate inertial drift. To determine when to activate global constraints, we introduce a general criterion based on the evolution of the Hessian matrix's singular values, effectively quantifying system observability. Experiments on EuRoC, GVINS and MARS-LVIG datasets show that our approach consistently outperforms the naive strategy of fusing all measurements from the outset, yielding more accurate and robust initializations.
000165512 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T45-23R$$9info:eu-repo/grantAgreement/ES/MICINN/PID2021-127685NB-I00$$9info:eu-repo/grantAgreement/EUR/MICINN/TED2021-131150B-I00
000165512 540__ $$9info:eu-repo/semantics/closedAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000165512 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000165512 700__ $$0(orcid)0000-0003-1368-1151$$aCivera, Javier$$uUniversidad de Zaragoza
000165512 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000165512 773__ $$g11, 2 (2026), 1458-1465$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766
000165512 8564_ $$s3279816$$uhttps://zaguan.unizar.es/record/165512/files/texto_completo.pdf$$yPostprint
000165512 8564_ $$s2893178$$uhttps://zaguan.unizar.es/record/165512/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000165512 909CO $$ooai:zaguan.unizar.es:165512$$particulos$$pdriver
000165512 951__ $$a2026-01-12-11:08:58
000165512 980__ $$aARTICLE