MARID ESKF
MARID Error-State Extended Kalman Filter GPS-Denied Sensor Fusion — Design Document Table of Contents Motivation State Vectors Process Model Process Jacobian F Process Noise Q Measurement Models H Update Step Mechanics Full ESKF Cycle Implementation Notes Future Work: Learning-Augmented ESKF 1. Motivation Reliable state estimation in GPS-denied environments is a core challenge for autonomous aerial vehicles. Without satellite positioning, a UAV must infer its full navigation state — position, velocity, and attitude — exclusively from onboard sensors, each carrying its own noise characteristics, failure modes, and operational envelope. MARID is a hydrogen-powered UAV with a single aft thruster, rotating lifting wings, and four independently-actuated control surfaces. Its operating profile compounds the estimation challenge: hydrogen combustion c...
