Global Positioning System: basic taxonomy and modeling

Including: basic definitions, measurement models, measurement error models, positioning error models









Discretization of first-order Gauss-Markov Processes

Including: complete derivation to discretize the continuous-time process. This is useful to model sensor biases in a discrete-time setup.







Some useful relations on quaternions and rotations

Including: basic definitions regarding quaternions, quaternion multiplication, conversion from unit quaternion to rotation matrix, rotations of 3D vectors in homogeneous coordinates, and small-angle approximations.








Relations between the objective functions used in TORO and g2o


Including: explicit formulations of the optimization problems solved by g2o, and TORO, and comments on the actual differences in the structure of the optimization objective.

[Image: 3D sphere,]