提出新方法提升高精度导航中SE2(3)滤波器的自主性
Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Theoretical Analysis
- 通过理论分析发现非惯性系下速度引发科里奥利力破坏自主性
- 提出新构建方法使高精度导航模型更接近完全自主
- 适合做高精度惯性导航系统研究的学者参考
SE2(3)李群框架在导航建模中的核心优势在于误差传播的自主性。现有研究显示，该自主性在低精度应用（如不考虑地球自转和惯性器件偏差的MEMS集成导航）中成立。然而，在考虑地球自转和惯性器件偏差的高精度导航状态估计中，保持自主性极为困难。本文针对惯性系、地球系和世界系分别开展SE2(3)群高精度导航模型的自主性理论分析。研究表明，传统、简单的SE2(3)群导航建模方法的局限性在于非惯性系中速度引入的科里奥利力项。为此，提出一种新的构造方法，使导航模型更接近完全自主。
原文摘要 · Abstract (English)
One of core advantages of the SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. Current research on Lie group based extended Kalman filters has demonstrated that error propagation autonomy holds in low-precision applications, such as in micro electromechanical system (MEMS) based integrated navigation without considering earth rotation and inertial device biases. However, in high-precision navigation state estimation, maintaining autonomy is extremely difficult when considering with earth rotation and inertial device biases. This paper presents the theoretical analysis on the autonomy of SE2(3) group based high-precision navigation models under inertial, earth and world frame respectively. Through theoretical analysis, we find that the limitation of the traditional, trivial SE2(3) group navigation modeling method is that the presence of Coriolis force terms introduced by velocity in non-inertial frame. Therefore, a construction method for SE2(3) group navigation models is proposed, which brings the navigation models closer to full autonomy.
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