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Equivariant filtering framework for inertial-integrated navigation
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DOI：10.1186/s43020-021-00061-z.png)
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摘要
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This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As the kinematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE2(3), the symmetry of the Lie group can be exploited to design an equivariant filter which extends the invariant extended Kalman filtering on the group-affine system and overcomes the inconsitency issue of the traditional extend Kalman filter. We firstly formulate the inertial-integrated dynamics as the group-affine systems. Then, we prove the left equivariant properties of the inertial-integrated dynamics. Finally, we design an equivariant filtering framework on the earth-centered earth-fixed frame and the local geodetic navigation frame. The experiments show the superiority of the proposed filters when confronting large misalignment angles in Global Navigation Satellite Navigation (GNSS)/Inertial Navigation System (INS) loosely integrated navigation experiments.
Keyword:
SE2(3) matrix Lie group
Inertial-integrated navigation
Equivariant filtering
Group-affine dynamic
Invariant system
Autonomous error
期刊
IF:
10.1
论文数:
226
被引数:
1.2K
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