Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: GPS-denied Navigation: Attitude, Position, Linear Velocity, and Gravity
  Estimation with Nonlinear Stochastic Observer   Successful navigation of a rigid-body traveling with six degrees of freedom
(6 DoF) requires accurate estimation of attitude , position, and linear
velocity. The true navigation dynamics are highly nonlinear and are modeled on
the matrix Lie group of SE2(3). This paper presents novel geometric nonlinear
continuous stochastic navigation observers on SE2(3) capturing the true
nonlinearity of the problem. The proposed observers combines IMU and landmark
measurements. It efficiently handles the IMU measurement noise. The proposed
observers are guaranteed to be almost semi-globally uniformly ultimately
bounded in the mean square. Quaternion representation is provided. A real-world
quadrotor measurement dataset is used to validate the effectiveness of the
proposed observers in its discrete form. Keywords: Inertial navigation,
stochastic system, Brownian motion process, stochastic filter algorithm,
stochastic differential equation, Lie group, SE(3), SO(3), pose estimator,
position, attitude, feature measurement, inertial measurement unit, IMU.

36
The categories of this paper are: cmp-lg
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
18
The categories of this paper are: econ
26
The categories of this paper are: bayes-an
5
The categories of this paper are: gr-qc
23
The categories of this paper are: solv-int
10
The categories of this paper are: q-bio
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th
11
The categories of this paper are: hep-lat
20
The categories of this paper are: acc-phys
6
The categories of this paper are: astro-ph