Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application

TL;DR

This paper enhances the SE2(3) Lie group-based Extended Kalman Filter for integrated navigation by proposing a construction method that improves the model's autonomy, validated through real-world experiments and simulations.

Contribution

It introduces a new construction method for SE2(3) group navigation models that enhances autonomy in non-inertial navigation systems.

Findings

Improved navigation accuracy demonstrated in real-world SINS/ODO experiments

Enhanced model autonomy verified through Monte-Carlo simulations

Better error propagation control in the SE2(3) framework

Abstract

One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and world frames was given. A construction method for SE2(3) group navigation model is proposed to improve the non-inertial navigation model toward full autonomy. This paper serves as a counterpart to previous paper and conducts the real-world strapdown inertial navigation system (SINS)/odometer(ODO) experiments as well as Monte-Carlo simulations to demonstrate the performance of improved SE2(3) group based high-precision navigation models.