165512 20260112132214.0 doi 10.1109/LRA.2025.3641442 sideral 147254 ART-2026-147254 eng Cerezo, Samuel Universidad de Zaragoza GNSS-Inertial State Initialization Using Inter-Epoch Baseline Residuals 2026 Initializing 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. info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/grantAgreement/ES/MICINN/PID2021-127685NB-I00 info:eu-repo/grantAgreement/EUR/MICINN/TED2021-131150B-I00 info:eu-repo/semantics/closedAccess All rights reserved http://www.europeana.eu/rights/rr-f/ info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Civera, Javier Universidad de Zaragoza (orcid)0000-0003-1368-1151 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 11, 2 (2026), 1458-1465 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 3279816 http://zaguan.unizar.es/record/165512/files/texto_completo.pdf Postprint 2893178 http://zaguan.unizar.es/record/165512/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:165512 articulos driver 2026-01-12-11:08:58 ARTICLE