@article{onimupreintegrationanonlinearobserver,
  title = {On IMU preintegration: A nonlinear observer viewpoint and its application},
  author = {Bowen Yi and Ian R. Manchester},
  year = {2023},
  eprint = {2307.04165},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2307.04165v1},
}