Vehicle State Estimation Combining Physics-Informed Neural Network and Unscented Kalman Filtering on Manifolds.

This paper proposes a novel vehicle state estimation (VSE) method that combines a physics-informed neural network (PINN) and an unscented Kalman filter on manifolds (UKF-M). This VSE aimed to achieve inertial measurement unit (IMU) calibration and provide comprehensive information on the vehicle's dynamic state. The proposed method leverages a PINN to eliminate IMU drift by constraining the loss function with ordinary differential equations (ODEs).